基于惯性元件与磁罗盘信息融合的步行者定位系统

发布时间：2017-12-28 20:15

本文关键词：基于惯性元件与磁罗盘信息融合的步行者定位系统　出处：《山东大学》2015年硕士论文　论文类型：学位论文

【摘要】：本论文为解决目前广泛使用的基于卫星的GPS定位系统中存在的易被遮挡的缺点,研究一种新的定位系统,该系统适用于对复杂遮挡环境下的步行者进行导航,可广泛应用于卫星信号被严重遮挡的室内、偏僻室外等场景。基于惯性传导的步行者定位系统,具有不受环境约束、使用灵活等优点,在娱乐场所、应急救灾等领域都有重要的应用价值。本论文首先基于ARM Cortex-M3内核的32位处理器,使用12C总线完成六轴姿态传感器MPU6050以及磁感应强度传感器HMC5883数据采集,同时通过传感器输出信号的初始校正、低通滤波、六位置法标定以及卡尔曼滤波等进行传感器信号预处理并完成实验平台搭建。基于该实验平台,论文基于对现有的步行者步长模型、姿态更新、航向估算方法以及位置推算算法的理论推导与实验验证,确定出适合本项目的应用模型,并进行大量的实验验证从而进行参数修定。对于步行者运动航向的估算,本论文提出基于陀螺仪和电子罗盘的航向融合算法,实验结果表明该算法可以提高定位的精度与稳定性。本论文目前搭建的实验平台及算法只适用于二维空间内,暂时未考虑上楼下楼等运动。进一步基于高度计研究完成三维空间导航及与GPS相结合以拓展项目的应用场景是本论文未来的发展方向。
[Abstract]:This paper is based on the GPS satellite positioning system are solved in easily obscured the shortcomings of the current widely used, a new positioning system, this system is suitable for navigation of complex block walk environment, can be widely used in the satellite signal is severely occluded indoor and outdoor scene remote etc.. Pedestrian location system based on inertial transmission has many advantages, such as no environmental constraints and flexible use. It has important application value in entertainment, emergency and disaster relief. This paper based on the 32 bit ARM processor of Cortex-M3 kernel, using 12C bus to complete the six axis attitude sensor MPU6050 and magnetic induction sensor HMC5883 data acquisition, the initial output signal of the sensor calibration, low pass filter, six position calibration method and Calman filter for signal preprocessing and complete experimental platform. Based on the experimental platform, based on the existing pedestrian step model, attitude update, heading estimation method and position calculation of theoretical derivation and experimental verification algorithm, determine the appropriate application model of this project, and a large number of experiments were carried out to modify the parameters. For estimating the walking course of pedestrians, this paper proposes a heading fusion algorithm based on gyroscope and electronic compass. Experimental results show that the algorithm can improve positioning accuracy and stability. The experimental platform and algorithm built in this paper are only suitable for two dimensional space, and it does not consider the movement of upstairs and downstairs for the time being. Further research based on altimeter research to complete three-dimensional space navigation and to combine with GPS to expand the application scene of the project is the future development direction of this paper.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN96

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