基于MEMS与Android智能手机融合的室内个人导航算法

发布时间：2018-01-17 00:22

本文关键词：基于MEMS与Android智能手机融合的室内个人导航算法　出处：《北京工业大学学报》2017年05期 　论文类型：期刊论文

【摘要】：针对微机电系统(micro-electro mechanical system,MEMS)惯性器件在导航解算中存在较大的累积误差问题,提出了一种基于MEMS惯性器件与Android智能手机融合的室内个人导航算法.导航算法在捷联惯性导航算法的基础上,根据人行走时的运动特点,引入了零速度检测与修正算法来检测人行走过程中的静止状态,并对行人静止时刻的速度和位置信息进行校正,以降低累积误差.导航解算中由于陀螺仪漂移导致获得的行人运动方向角误差较大,故采用MEMS陀螺仪输出姿态信息与Android智能手机中的电子罗盘方向角融合的行人运动方向校正算法来获取行人运动方向,并结合滑动均值滤波算法来进一步校正行人的运动方向,提高导航精度.最后通过实验结果验证了导航累积误差修正算法的可行性和有效性.
[Abstract]:Aiming at the problem of accumulative error in navigation calculation of micro-electro mechanical / MEMS inertial devices in MEMS. This paper presents an indoor personal navigation algorithm based on the fusion of MEMS inertial devices and Android smart phones. The navigation algorithm is based on the strapdown inertial navigation algorithm and according to the movement characteristics of human walking. A zero speed detection and correction algorithm is introduced to detect the static state of human walking and to correct the velocity and position information of pedestrian. In order to reduce the accumulative error, the error of pedestrian direction angle obtained in navigation solution is larger because of gyroscope drift. Therefore, using the MEMS gyroscope output attitude information and Android smart phone electronic compass direction angle fusion of pedestrian direction correction algorithm to obtain the direction of pedestrian motion. The sliding mean filter algorithm is used to further correct the direction of pedestrian motion and improve the navigation accuracy. Finally, the feasibility and effectiveness of the algorithm are verified by the experimental results.
【作者单位】：北京工业大学电子信息与控制工程学院;
【基金】：国家自然科学基金资助项目(61174109)
【分类号】：TN965
【正文快照】： 基于微机电系统(micro-electro mechanicalsystem,MEMS)惯性器件的室内定位技术,按照计算运动距离的方法可以分为2类:基于运动模型的行人航迹推算(pedestrian dead-reckoning,PDR)技术和捷联惯性导航系统(strap-down inertialnavigation system,SINS)[1].其中基于运动模型的航

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