Method and device for determining initial navigation state in pedestrian inertial navigation system
A technology of an inertial navigation system and a determination method, which is applied in the field of indoor positioning, and achieves the effects of simple installation, no environmental interference, and difficulty in reliable determination.
Active Publication Date: 2020-05-08
WUHAN UNIV
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Problems solved by technology
[0004] The present invention aims to solve the above-mentioned technical problems in the determination of the initial navigation state in the existing pedestrian inertial navigation system
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[0036] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be further described in detail below in conjunction with preferred embodiments and accompanying drawings. The drawings in the following description are only some specific implementation manners in the embodiments of the present invention, to show the way of implementing the principles of the embodiments of the present invention. Those skilled in the art should understand that the content described below is illustrative rather than restrictive, and other implementations can be obtained according to these descriptions, which should not limit the protection scope of the present invention.
[0037] Such as figure 1 As shown, an embodiment of the present invention provides a method for determining an initial navigation state in a pedestrian inertial navigation system, comprising the following steps:
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The invention provides a method and a device for determining an initial navigation state in a pedestrian inertial navigation system, and the method comprises the steps: enabling an image mark code containing an orientation to be installed and fixed on an inertial sensor, enabling the inertial sensor to be installed at a foot of a pedestrian, and enabling the image mark code containing a position and a course angle to be installed on the ground nearby a navigation starting point in advance; in the initialized static period, using a camera for shooting a picture containing the image mark codes on the inertial sensor and the ground at the same time; calculating actual navigation coordinates of a selected point in the image mark code on the inertial sensor according to the position and headingof the image mark code on the ground, and determining a heading angle and a position of a geometric center of the inertial sensor; and finally, calculating an initial roll angle and a pitch angle ofthe inertial sensor according to the specific force data in the static period, and providing a stable and reliable initial navigation state for the pedestrian inertial navigation system. The pedestrian inertial navigation initial navigation state determination method is stable, reliable, free of interference, extremely low in cost and easy to operate.
Description
technical field [0001] The invention relates to the field of indoor positioning, in particular to a method and device for determining an initial navigation state in a pedestrian inertial navigation system. Background technique [0002] Global satellite navigation systems can provide reliable positioning services in open outdoor environments; however, in indoor environments such as urban canyons, inside buildings, and underground mines, satellite navigation cannot provide positioning services because signals are blocked by buildings or the ground. Although WiFi, Bluetooth, Beacon and other technologies can provide indoor positioning services, these technologies all require the deployment of base stations. On the one hand, the deployment and maintenance of base stations requires a lot of manpower, material resources and time costs. In scenes such as underground mines, the positioning ability will be lost. Pedestrian Inertial Navigation System (PINS) is a lightweight and low-c...
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Login to View More IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 牛小骥旷俭刘韬葛雯斐
Owner WUHAN UNIV