基于GPSOne和航位推算的定位算法研究

根据行人导航的原理,提出一种适合消防员定位的航位推算算法,并结合GPSOne对消防员的定位信息进行随时更新,以校正由航位推算引起的累积误差,并且可以实现室内外的无缝定位。用加速度计对消防员进行步态辨识,电磁罗盘测量其航向角,并用三轴陀螺仪对航向角进行修正。区别于常用的线性和非线性计算步长的方法,提出一种全新的由速度和频率确定位置增量的步长计算方法,经验证,该算法具有较高的定位精度。

Location Algorithm Based on GPSOne and Dead Reckoning

According to the principle of Pedestrian Dead Reckoning,an algorithm for fireman location have been presented.The algorithm combined GPSOne with dead reckoning to create a seamless location from outdoor to indoor,and GPSOne is used to compensate the accumulated error caused by the dead reckoning.Accelerometer was used to detect the step occurrences;magnetic compass provided continuous azimuth information and 3-axis gyroscope is used to correct the azimuth information from the magnetic compass.A new algorithm was proposed to figure out stride length with velocity and frequency of the fireman,which is very different from the linear and nonlinear algorithm we usually use.The results of experiments demonstrated the effectiveness of the proposed approach.