运动分类步频调节的微机电惯性测量单元室内行人航迹推算

发布时间：2018-07-28 09:31

【摘要】：行人航迹推算(pedestrian dead reckoning,PDR)作为一种新兴的导航定位方法,因其不易受外界环境因素影响而受到广泛关注.针对室内行人航迹推算,采集并分析了微机电惯性测量单元(micro-electro-mechanical system-inertial measurement unit,MEMS-IMU)数据,设计了运动分类的区间对称步频检测,并建立了步频调节的步长估计模型,最后提出了运动分类步频调节的MEMS-IMU室内行人航迹推算,从而实现较精准的定位.针对不同个体,对步频调节的步长估计模型进行个性化标定,以进一步提高室内行人航迹推算性能.验证结果表明:与传统峰值非线性方法相比,运动分类步频调节的MEMS-IMU室内行人航迹推算的定位误差降低了32.6%,使短距离室内行人航迹推算在无其他定位技术支持的情况下具有较高精度.
[Abstract]:As a new navigation and positioning method, pedestrian track reckoning (pedestrian dead) is widely concerned because it is not easy to be affected by external environmental factors. In this paper, the data of micro-electro-mechanical system-inertial measurement Unit (micro-electro-mechanical system-inertial measurement Unit MEMS-IMU) are collected and analyzed, and the interval symmetric step frequency detection of motion classification is designed, and the step size estimation model of step frequency regulation is established. In the end, the MEMS-IMU indoor pedestrian track estimation with motion classification and step frequency regulation is put forward, so as to achieve more accurate positioning. In order to further improve the performance of indoor pedestrian trajectory estimation, the step size estimation model of step frequency regulation is calibrated individualized for different individuals. The results show that: compared with the traditional peak nonlinear method, The positioning error of MEMS-IMU indoor footpath reckoning is reduced by 32.6in the motion classification step frequency regulation, which makes the short-range indoor footpath estimation have a higher accuracy without the support of other positioning techniques.
【作者单位】：上海大学特种光纤与光接入网省部共建重点实验室;上海大学微电子研究与开发中心;上海大学新型显示与系统应用重点实验室;
【基金】：上海市教委重点学科建设资助项目(J50104) 上海市科委基金资助项目(08706201000,08700741000)
【分类号】：TN966

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