基于智能手机MARG传感器的行人导航算法

发布时间：2018-06-24 15:03

本文选题：行人导航 + MARG传感器　；参考：《重庆邮电大学学报(自然科学版)》2014年02期

【摘要】：对于手持式移动设备的定位导航需求,特别是在室内无法接收到GPS信号的恶劣环境,提出了一种基于智能手机上的磁力计,陀螺仪和加速度计(magnetic,angular rate and gravity,MARG)传感器的行人导航算法,该算法在行人航迹推算的基础上,利用数字低通滤波器滤波后的加速度计三轴模值数据,对行人步态进行检测,采用经验模型对行人步长进行估计,并结合扩展卡尔曼滤波器,采用自适应的方式实时调整测量噪声协方差矩阵,将MARG传感器融合数据用于最佳航向角估算。在智能手机平台上进行测试验证,实验结果表明,在无磁或有磁干扰环境下,所提出的行人导航算法均可保证准确、可靠、持续的位置信息。
[Abstract]:A pedestrian navigation algorithm based on magnetometer, gyroscope and accelerometer (MARG) sensor on smart phone is proposed for the requirement of positioning and navigation of hand-held mobile devices, especially in the bad environment where the GPS signal cannot be received in the room, and a pedestrian navigation algorithm is proposed based on the magnetometer, gyroscope and accelerometer (MARG) sensor on the smart phone. Based on the calculation of pedestrian track, this algorithm detects the pedestrian gait by using the digital low-pass filter filtering accelerometer triaxial mode data, and uses the empirical model to estimate the pedestrian step size, and combines with the extended Kalman filter. The covariance matrix of measurement noise is adjusted in real time by adaptive method, and the fusion data of Marg sensor is used to estimate the optimal heading angle. The test results on the smart phone platform show that the proposed pedestrian navigation algorithm can guarantee accurate, reliable and continuous position information without magnetic or magnetic interference.
【作者单位】：重庆邮电大学移动通信重点实验室;
【基金】：国家自然科学基金(61301126) 重庆市基础与前沿研究计划项目(cstc2013jcyjA40041) 重庆邮电大学博士启动基金(A2012-33) 重庆市重点实验室专项基金(CSTC) 重庆市教育委员会科学与技术项目(KJ130528) 重庆邮电大学青年科学基金(A2012-77)~~
【分类号】：TN929.53

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