10 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 various systems and methods disclosed herein provide for cost effective and high accuracy location detection. In some implementations of the system and method for high accuracy location detection, a mobile location device obtains and calculates location data from a plurality of sources without requiring expensive and power inefficient processors. In some implementations, such cost effective and high accuracy location detection by the mobile location device is used in improved pedestrian location systems and methods. In some such implementations, the mobile location device communicates with remote geomapping servers and pedestrian navigation systems to provide pedestrian navigational guidance which may include pedestrian navigational guidance for the visually impaired.

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.

The invention provides a road network matching pedestrian navigation method and device based on an orthogonal projection and similarity principle. The method comprises the following steps: acquiring a matching road of a pedestrian navigation system in a road network map; performing orthogonal projection on the calculated position of the pedestrian navigation system on the matched road, determining a position error of the pedestrian navigation system in a direction vertical to the matched road, and correcting the calculated position of the pedestrian navigation system according to the position error; and performing similarity modeling on the position error based on a similarity principle to obtain a gyro course attitude angle error of an inertial measurement unit in the pedestrian navigation system, and correcting the calculated position of the pedestrian navigation system according to the gyro course attitude angle error. According to the method, only position errors in the vertical matching road direction are observed, so that introduction of additional errors can be avoided, and a road constraint function is realized; meanwhile, the method not only can be used for correcting the position, but also can be used for correcting the course error of the pedestrian navigation system, thereby further improving the positioning accuracy of the pedestrian navigation system.

Pedestrian autonomous positioning method based on inertial sensors in complex environments. 1) Considering the corresponding parameters of a single gyroscope, determine the number of redundant inertial sensors. 2) After determining the number of inertial sensors, study the configuration scheme of the redundant inertial sensors to obtain an inertial sensor configuration scheme that can simultaneously optimize the navigation performance and fault detection and isolation performance of the pedestrian navigation system. 3) Use a data fusion algorithm to optimally fuse the data measured by the inertial sensor configuration scheme obtained in steps 1 and 2. 4) Input the fused inertial motion information obtained in step 3 into the inertial navigation system calculation module to calculate various motion parameters of the pedestrian. The present invention is based on a microelectromechanical system inertial measurement unit, realizes high-precision autonomous positioning of pedestrians in complex environments, and adopts the redundancy technology of inertial sensors to solve the problem that the noise of inertial sensors accumulates multiple times, resulting in rapid divergence of the trajectory.

The present invention discloses a pedestrian navigation system and path planning method based on environmental perception and human kinematics. The pedestrian navigation system includes: an environmental information acquisition module, a positioning module, a gait planning module, and a motion planning module. The path planning method includes: establishing a Euclidean signed distance field map through environmental perception, establishing a continuous motion model using a linear inverted pendulum model, generating gait points using linear gait point placement control and solving the LIP model, generating a safe trajectory through a search algorithm, and guiding pedestrians to walk according to the optimal gait trajectory. The pedestrian navigation system and method proposed in the present invention can perceive rich environmental information, process dynamic information in the environment, consider the kinematic constraints of the human body, and plan safe and barrier-free walking trajectories suitable for special people such as the visually impaired and the intellectually disabled, thereby achieving autonomous and safe guidance of pedestrians.

The various systems and methods disclosed herein provide for cost effective and high accuracy location detection. In some implementations of the system and method for high accuracy location detection, a mobile location device obtains and calculates location data from a plurality of sources without requiring expensive and power inefficient processors. In some implementations, such cost effective and high accuracy location detection by the mobile location device is used in improved pedestrian location systems and methods. In some such implementations, the mobile location device communicates with remote geomapping servers and pedestrian navigation systems to provide pedestrian navigational guidance which may include pedestrian navigational guidance for the visually impaired.

A hands-free pedestrian navigation method includes mounting on a user's head (i) a display for projecting a visual image in front of the user's gaze, and (ii) an IMU, obtaining from a GPS unit carried by the user an approximate user location for locating the user in a computerized map. Confirmation is obtained from the user that the user's gaze is directed to a specified landmark in sight of the user and azimuth is computed between the user location and the landmark location extracted from the computerized map. Vocal prompts are provided and ancillary visual prompts are projected on the display to navigate the pedestrian. In a system, the user wears a head-mounted device containing the IMU and display and carries a GPS unit and a portable computing device coupled to the device and GPS unit and programmed to carry out the method.