基于人体下肢运动学机理的行人导航方法

发布时间：2018-05-01 08:44

  本文选题：行人导航 + 人体运动学　； 参考：《中国惯性技术学报》2015年01期

【摘要】：利用人体运动特征实现行人导航是近年来导航技术领域新兴的研究方向之一。针对惯性测量组件足部安装方式在人体较高过载的运动中无法有效实现零速修正的问题,研究了一种惯性测量组件在人体下肢分布式安装,基于人体下肢运动学机理构建虚拟足部惯性测量组件,从而实现人体导航定位的方法。阐述了行人导航系统的结构与虚拟惯性传感组件的构建机理,研制了系统原理样机。实验结果表明所提出的方法在人体较高过载的行进中可有效克服测量信息超量程、冲击等因素对导航解算的影响,定位精度约为行进距离的6%,并通过分析总结了影响该类型行人导航系统性能的各项主要因素,为进一步研究提供了一定的理论与技术基础。
[Abstract]:Pedestrian navigation using human motion features is one of the new research directions in navigation technology field in recent years. Aiming at the problem that the foot mounting mode of the inertial measurement module can not effectively realize the zero speed correction in the high overload movement of the human body, a distributed installation of the inertial measurement module in the lower limbs of the human body is studied in this paper. Based on the kinematics mechanism of human lower limbs, a virtual foot inertial measurement module is constructed to realize human navigation and positioning. The structure of pedestrian navigation system and the construction mechanism of virtual inertial sensor module are described. The prototype of the system principle is developed. The experimental results show that the proposed method can effectively overcome the effects of measurement information overloading, shock and other factors on navigation solution. The positioning accuracy is about 6% of the travel distance. The main factors affecting the performance of this type of pedestrian navigation system are analyzed and summarized, which provides a theoretical and technical basis for further research.
【作者单位】： 南京师范大学电气与自动化工程学院;南京航空航天大学自动化学院;
【基金】：国家自然科学基金(61304227) 江苏省自然科学基金(BK20141453) 江苏省高校自然科学基金(13KJB590001)
【分类号】：TN96
，

本文编号：1828618