行人导航系统中航迹推算参数估计方法的研究

将GPS/DR组合导航技术应用到行人导航系统中。利用加速度计对行人步态进行判别,将神经网络用于行人步幅信息的标定。同时利用电子罗盘实现方位角的测量,并结合加速度计信息进行倾斜角度的误差补偿。现场测试结果表明,本文提出的DR参数估计方法不但提高参数估计的精度,而且能够满足行人导航定位的要求。

Research on a method for dead reckoning parameter estimation in pedestrian navigation system

In this paper, the GPS/DR integrated system is applied in PNS. A new reliable step determination method using accelerometer is proposed from the analysis of the acceleration of the foot during one step of the walking. A stride determination method is also obtained based on neural network. Besides, a reliable heading can be measured by magnetic compass. Furthermore, an integration method of accelerometer and magnetic compass can compensate the inclination angle. The results of walking test show that the proposed method not only improves the accuracy of parameter estimation, but can satisfies the requirements of pedestrian navigation.