| 室内外行人导航系统研究 |
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| 引用本文： | 徐江颖,熊剑,郭杭,衷卫声,杨欢.室内外行人导航系统研究[J].压电与声光,2017,39(3):442-447. |
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| 作者姓名： | 徐江颖 熊剑 郭杭 衷卫声 杨欢 |
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| 作者单位： | 1.南昌大学 信息工程学院，江西 南昌 330031；2.南昌大学 信息工程学院测控教研室，江西 南昌 330031；3.南昌大学 空间科学与技术研究院，江西 南昌 330031 |
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| 基金项目： | 国家自然科学基金资助项目（41374039） |
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| 摘 要： | 采用微机电系统(MEMS)惯性传感器、MEMS磁传感器及小型全球定位系统(GPS)接收机为室内外行人导航数据源,基于Cortex-M4为内核,搭建了室内外行人导航系统硬件平台。重点研究了多传感器导航系统的结构、多源信息融合方法、多条件零速检测方法及零速修正等理论方法。并通过试验,采集实测数据进行分析、验证行人导航系统设计的性能。结果表明,在GPS信号良好情况下,定位误差在2.5m以内;无GPS信号期间,路线长度为110m时,定位误差在总路经的5%内。
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| 关 键 词： | 微机电系统(MEMS) 行人导航 信息融合 零速检测 误差标定 无缝导航 |
Study on Indoor-outdoor Pedestrian Navigation System |
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| Abstract: | With MEMS inertial sensors, MEMS magnetic sensor and a small GPS receiver for indoor and outdoor pedestrian navigation data source, a hardware platform of indoor outdoor pedestrian navigation system is designed based on Cortex M4 core. This paper mainly studies the structure of multi sensor navigation system, multi source information fusion method, multi condition zero velocity detection method and theory of ZUPT. The performance of the pedestrian navigation system is validated through the analysis of the measured data and experiment. The results show that the positioning error is less than 2.5 m with good GPS signals; while the positioning error is less than 5% of the total path without PGS signals and at the route length of 110 m. |
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| Keywords: | microelectromechanical systems(MEMS) pedestrian navigation information fusion zero velocity detection error calibration seamless navigation |
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