Pedestrian navigation MIMU installation error online calibration method
A calibration method and installation error technology, applied in the field of navigation, can solve the problems of reduced positioning accuracy and severe jitter of heading angle
Active Publication Date: 2021-05-11
厦门华源嘉航科技有限公司
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[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an online calibration method for MIMU installation errors in pedestrian navigation, which enables the wearer to quickly calibrate the installation errors of the MIMU on any horizontal plane, and solves the problems caused by the existence of MIMU installation errors. The problem of reduced positioning accuracy and the problem of severe jitter in the heading angle during pedestrian walking have significantly improved the positioning and orientation accuracy of pedestrian navigation
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[0107] In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments will be described in detail with reference to the accompanying drawings.
[0108] like figure 1 As shown, the present embodiment provides a pedestrian navigation MIMU installation error online calibration method, including the following steps:
[0109] Step 1: Install the MIMU on the foot of the pedestrian;
[0110] Step 2: Let pedestrians stand still on the flat ground for 1 to 10 seconds (such as 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 7 seconds, 8 seconds, 9 seconds, etc.);
[0111] Step 3: Calculate the MIMU horizontal installation error angle;
[0112] Step 4: Compensate the MIMU horizontal installation error angle;
[0113] Step 5: Let the pedestrian walk straight forward for at least one step (such as one step, two steps, three steps, etc.);
[0114] Step 6: Do strapdown inertial navigation attitude updat...
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The invention discloses a pedestrian navigation MIMU installation error online calibration method, and belongs to the technical field of navigation. The method comprises the following steps of 1, installing the MIMU on a foot of a pedestrian; 2, enabling the pedestrian to stand on the flat ground for 1-10 seconds; 3, calculating a horizontal installation error angle of the inertial navigation MIMU; 4, compensating the horizontal installation error angle of the inertial navigation MIMU; 5, enabling the pedestrian to walk forwards for at least one step straightly; 6, carrying out strapdown inertial navigation attitude updating calculation; 7, calculating an MIMU course installation error angle; and 8, compensating the MIMU course installation error angle. According to the method, a wearer of the MIMU in pedestrian navigation can quickly calibrate the installation error of the MIMU in any horizontal plane, the problems that the positioning precision is reduced due to the existence of the installation error of the MIMU in the pedestrian navigation and the navigation direction angle jitters violently in the walking process are solved, and the positioning and orientation precision of the pedestrian navigation is remarkably improved.
Description
technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to an online calibration method for MIMU installation errors of pedestrian navigation. Background technique [0002] Pedestrian navigation system is an emerging branch in the field of navigation and positioning. It aims to make full use of the advantages of MEMS inertial devices such as light weight, small size, good portability and low price, and give full play to the characteristics of strong autonomy of inertial navigation technology to realize pedestrians in the absence of GNSS signals. Covered indoor positioning and navigation. [0003] One of the core components of the pedestrian navigation technology is the Micro Inertial Measurement Unit (MIMU for short) installed on the foot of the pedestrian. The inertial measurement unit installed on the foot calculates the pedestrian's three-axis attitude, stride frequency and step length through sensitive changes in foot...
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IPC IPC(8): G01C25/00
CPCG01C25/005Y02T90/00
Inventor 陈天宇张江源闻泽阳杨长浩张文龙刘宇尘邢金龙
Owner 厦门华源嘉航科技有限公司