4 results about "Pedestrian navigation system" patented technology

This invention discloses a capacitive Kalman filter navigation method based on motion acceleration compensation, comprising the following steps: Step 1. In a pedestrian navigation system, the pedestrian's attitude is acquired using sensors, and a sensor measurement model is established; Step 2. Based on the sensor measurement model, the acceleration fitting interval is determined according to the accelerometer measurement results, and the fitting results are used to predict and compensate for motion acceleration within the fitting interval; Step 3. A capacitive Kalman filter is designed to estimate the pedestrian's navigation attitude, and the data from the gyroscope, accelerometer, and magnetometer are fused to complete the attitude estimation. This method determines the acceleration fitting interval based on the accelerometer measurement results, compensates the accelerometer measurement value within the fitting interval using the fitting results, and then uses the CKF algorithm to estimate the attitude after compensation, and then calculates the velocity and position. It has the characteristics of high accuracy and robustness in velocity and position calculation.

The invention relates to the field of inertial pedestrian navigation systems, and particularly discloses a gait detection and updating method based on an inertial navigation system, which comprises the following steps: S1, calculating calibration parameters of an accelerometer and a gyroscope by using an improved six-surface calibration method, and calculating parameters of a magnetometer by using an ellipsoid fitting method; s2, substituting parameters to update a measured value; s3, setting a sliding window, calculating an acceleration amplitude, a variance and an angular velocity amplitude, and comparing a threshold value to obtain an initial zero velocity parameter T; s4, continuous T is counted, and a final zero-speed interval is judged when a threshold value is exceeded; s5, inputting related parameters, updating positions by a quaternion method and the like, and calculating an attitude conversion matrix and an attitude angle; s6, correcting the course angle according to the amplitude of the magnetometer; s7, updating the error covariance and the Kalman gain matrix; and S8, constructing an error vector according to the zero-speed interval, inputting an extended Kalman filter to update parameters, and outputting a result. According to the gait detection and updating method based on the inertial navigation system, the problems of error accumulation and high cost of a traditional method are solved, and the navigation precision is effectively improved.

This disclosure relates to an error estimation method and apparatus for pedestrian navigation systems. The method includes: acquiring detection data from the inertial measurement unit (IMU) of the pedestrian navigation system at the current moment and the navigation information source at the current moment; generating an original trajectory based on the detection data; dynamically selecting a corresponding target error estimation strategy from at least one preset error estimation strategy based on the navigation information source and the original trajectory; determining a target error based on the original trajectory and the target error estimation strategy; and using the target error as the error correction basis for the pedestrian navigation system to generate the original trajectory at the next moment. This allows for comprehensive judgment based on different reference information, determining the corresponding target error estimation strategy from multiple error estimation strategies for error estimation, accurately determining various errors in the pedestrian navigation system, significantly improving the positioning accuracy of the pedestrian navigation system in different scenarios, and balancing robustness and applicability.

The invention discloses a pedestrian navigation system and a navigation method and a self-calibration method thereof, an MEMS inertial measurement module in the system is fixedly mounted at the heel position of a tester, is fixedly connected with a shoe body, and collects sensor data along with the movement of the tester; the battery and the WIFI module are installed at the position, close to the MEMS inertial measurement module, of the leg of a tester through the bandage, and the battery is electrically connected with the WIFI module and the MEMS inertial measurement module and used for providing a working power source; the MEMS inertial measurement module executes switching of a preparation state, an alignment state and a navigation state according to the power-on time, acquires an angular rate and an acceleration according to a preset period after the navigation state, and performs inertial calculation to obtain navigation data; the navigation data is sent to the WIFI module to the upper computer according to a preset period; zero-speed correction is executed by detecting a zero-speed interval; the detection mode of the zero-speed interval is that GLRT detection and Gaussian kernel function family detection are used based on sensor data, and the current operation mode and the zero-speed interval of the pedestrian navigation system are jointly judged.