基于MEMS惯性传感器的行人航位推算系统

提出一种基于低成本MEMS自包含传感器,能自主完成数据采集、数据处理的行人航位推算（PDR）系统.硬件平台集成三轴加速度计、三轴陀螺仪、三轴数字罗盘及气压计,不需任何额外设施.通过自包含传感器测量行人行走的步长、方位及高度,实现行人室内、外三维定位.采用加速度信号实现跨步探测和步长估计.利用互补滤波器融合加速度计、陀螺仪和数字罗盘数据,矫正陀螺仪的测量误差和磁场干扰对数字罗盘的影响,提高行人行走的方位精度.测试结果表明：系统的定位误差低于行进距离的4％,满足行人定位要求.验证了系统的有效性和可靠性.

Pedestrian dead reckoning system based on MEMS inertial sensor

A pedestrian dead reckoning （PDR）system based on low-cost MEMS self-contained sensor is proposed, which can collect and process datas autonomously. Hardware platform integrates three-axis accelerometer, three-axis gyroscope, three-axis digital compass and barometer, no any additional facilities are required. Through self-contained sensor measure step-length, bearing and altitude of the pedestrian to achieve three-dimensional _indoor and outdoor positioning. The acceleration signal is utilized to realize stride detection and step length estimation： A ＂complementary filter is used to fuse datas from accelerometer, gyroscope and digital compass to correct measurement error of gyroscope and impact of magnetic field interference on digital compass and improve bearing precision. Test results illustrate that positioning error of the system is less than 4 % of total traveled distance, which meets requirements of pedestrian positioning. The effectiveness and reliability of the system are validated.