基于GLRT零速检测算法的行人室内定位系统

针对微机电系统中惯性传感器漂移大、精度低导致室内行人定位精度不高的问题,本系统在惯性导航解算算法的基础上,提出基于广义似然比检验的零速检测算法.该方法是利用广义似然比检验对行人处于站立相或摆动相的概率进行估计以及进行零速更新,提高行人定位精度.基于本文提出的行人室内定位模型,搭建以惯性测量单元为核心的实验平台,评估本文算法的可行性.实验结果表明行人定位的动态误差为-1.8141 m~1.4516 m,置信度为97.61%.表明本文的行人室内定位系统满足实际定位的要求.

Pedestrian Indoor Positioning System Based on GLRT Zero Speed Detection

Due to the inertial sensors's large drift and low accuracy in micro electro mechanical system,the accuracy of pedestrian indoor location is low. Based on the inertial navigation,this paper presents the zero speed detection al-gorithm of the generalized likelihood ratio test. This algorithm uses the generalized likelihood ratio test to estimate the probability of pedestrians standing or swinging,and updates the speed of the standing,in order to improve the accuracy pedestrian location. Based on the proposed indoor pedestrian location model,build an experimental platform with the inertial measurement unit,and evaluate the feasibility of the model. The experimental results show that the dynamic error is -1.814 1 m~1.451 6 m,and the confidence level is 97.61%,and indicate this pedestrian indoor positioning system meets the requirements of practical location.