Indoor pedestrian navigation attitude estimation method based on foot-worn inertia measurement unit

Abstract

The invention provides an indoor pedestrian navigation attitude estimation method based on a foot-worn inertia measurement unit. The method comprises the following steps: firstly mounting an inertia measurement unit on the foot of the pedestrian, initializing an initial attitude of an inertia measurement unit under a navigation coordinate system, and then judging whether the pedestrian is in a static state according to the output of the inertia sensor; when the pedestrian is in the non-static state, performing attitude updating by adopting the strap-down inertial navigation algorithm, recursing to obtain the current attitude; when the pedestrian is in the static state, constructing a dynamic model, accelerometer output and gravity relation construction measurement model according to the strap-down inertia navigation algorithm attitude updating equation, and updating the current attitude through a Kalman filter under a quaternion frame. The observed quantity is estimated by utilizing the measurement construction attitude of the accelerometer at the static moment, the precise attitude information can be obtained by executing data fusion through the Kalman filter under the quaternionframe, and the technical effect of providing the precise attitude information is provided.

Description

technical field [0001] The invention relates to the technical field of pedestrian navigation, in particular to an indoor pedestrian navigation attitude estimation method based on a foot-mounted inertial measurement unit. Background technique [0002] "Pedestrian navigation" refers to the provision of necessary location and direction information on the basis of maps to guide pedestrians to their intended destinations. Pedestrian navigation has become an important function in the ever-growing number of smart electronic devices (such as pedestrian navigation services provided by AutoNavi Maps and Baidu Maps in smartphones), which greatly improves people's travel efficiency. [0003] Outdoors, precise location information can be obtained by relying on the Global Navigation Satellite System (GNSS), and combined with other orientation sensors (such as gyroscopes), precise pedestrian navigation can be achieved. However, indoors, due to the occlusion of building structures and wall...

AI Technical Summary

Problems solved by technology

[0008] In order to solve the problem that the current indoor pedestrian navigation system is difficult to provide accurate attitude information, the present invention provides an indoor pedestrian navigation attitude estimation method based on a foot-mounted IMU. Execute the Kalman filter under the quaternion framework to correct the attitude estimation of the IMU strapdown algorithm

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