Pedestrian navigation method for online step length calibration, motion deviation angle correction and self-adaptive energy management
A technology for energy management and pedestrian navigation, which is applied in the field of pedestrian navigation and can solve the problem of no heading deviation angle compensation.
Active Publication Date: 2020-05-22
UNIV OF ELECTRONICS SCI & TECH OF CHINA
View PDF20 Cites 3 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, existing dead reckoning algorithms need to calibrate the step size parameters with sufficient personal offline datasets before using
This is the main obstacle to its easy use as a product
Moreover, although many scholars in the field of car navigation have discussed and corrected various types of misalignment angles caused by the inconsistency between the installed sensor frame and the defined body frame, there is no literature on the relationship between human gait and human gait in pedestrian navigation. The relevant course deviation angle compensation problem is studied
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0050] The pedestrian navigation method of online calibration step size, motion deviation angle correction and adaptive energy management in the present invention will be described in detail below in conjunction with the accompanying drawings:
[0051] For the convenience of description, the symbols appearing below are defined as follows:
[0052] Table 1 corner mark definition
[0053]
[0054]
[0055] Table 2 Symbol Definition
[0056]
[0057]
[0058] Step 1: After installing the MARG sensor, stand still for a few seconds to analyze the statistical characteristics of the sensor data and determine the DC component.
[0059]Step 2: After starting to move, calculate the position and attitude based on the inertial calculation of the mechanical arrangement assisted by the zero-speed detection. This stage is recorded as the "inertial navigation calculation" stage. The specific steps are as follows:
[0060] After receiving the MARG component data at each moment, u...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a pedestrian navigation method based on online step length calibration, motion deviation angle correction and self-adaptive energy management, and belongs to the field of pedestrian navigation. The method comprises the following steps: firstly, carrying out position and attitude updating based on filtering in an initialization stage, then calibrating a step length model onthe basis, and carrying out pedestrian motion direction correction based on filtering; and finally, after the initialization stage is finished, calculating the position of the step length plus the direction. In the process, a set of self-adaptive energy management strategy is provided; a gyro dormancy mechanism is added, and awakening is carried out when a specific condition is met; and a high sampling rate in the initialization stage is selected, and a formal position calculation stage is entered to carry out downsampling. When the method is used for calculating the pedestrian navigation position, offline calibration is avoided, the pedestrian movement direction is corrected, and meanwhile, a self-adaptive energy management strategy is used, so that the energy consumption is effectively reduced.
Description
technical field [0001] The invention belongs to the technical field of pedestrian navigation, in particular to a pedestrian navigation method for online calibration of step length, correction of motion deviation angle and self-adaptive energy management. Background technique [0002] In recent decades, with the development of microelectromechanical (MEMS) technology, MEMS inertial sensors have been widely used in pedestrian navigation. A MEMS inertial sensor consisting of a three-axis gyroscope and a three-axis accelerometer is usually attached to a certain part of the human body for purposes such as motion monitoring or biomedicine. The existing representative methods of pedestrian navigation based on inertial device technology can be mainly divided into two categories. One is the mechanical arrangement calculation method based on strapdown inertial navigation. Due to the inherent drift and zero bias of the gyroscope and accelerometer, the navigation error of the strapdow...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G01C21/00G01C21/16G01C25/00
CPCG01C21/005G01C21/165G01C25/00G01C25/005
Inventor 周泽波张泽亮
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA