基于协同导航机理的微惯性行人定位系统研究与实现

发布时间：2018-08-14 19:17

【摘要】：随着导航定位功能在智能移动终端中的普及和基于位置服务LBS (Location-Based Service)的蓬勃发展,人们对定位的精度和连续性提出了更高的要求。基于卫星导航技术的行人定位方法趋于成熟,取得了良好的效果。然而,在城市环境中,由于人们使用定位服务的场景通常是室内,卫星定位系统受到信号遮挡、干扰等因素的影响,定位的精度比较差甚至无法定位。为解决该问题,必须借助其它定位技术以获得可靠稳定的导航定位结果。基于惯性辅助的行人导航定位系统,以其自主式导航、不需要额外设施的优点,受到了工程与学术界的广泛关注和集中研究。本课题围绕卫星信号微弱或缺失情况下的行人自主导航定位问题展开研究。为了满足行人定位的实际需求,本文将从单人定位和多人定位两个方面出发。重点研究基于微惯性器件的行人导航系统,以实现单人精确定位。在此基础上,通过结合协同导航技术,实现多人导航定位的功能。论文首先对捷联式惯性导航系统的工作原理进行了研究,以微惯性器件构建了单人定位系统。为克服由于惯性器件长时间漂移所带来的定位误差,将零速修正技术应用于捷联惯性导航系统。在行人步态分析的基础上,研究了一种多条件辨识零速的零速检测算法,并构建了以速度误差为观测的卡尔曼滤波器。为了验证该方法,设计了多组导航定位实验,实验结果表明基于卡尔曼滤波算法的零速修正技术能有效提高捷联式惯性导航系统的定位精度。为了满足特定环境下多人定位的需求,论文对基于协同导航机理的多人定位系统展开了研究。本文将基于RSSI的测距定位技术引入导航系统,辅助惯性导航系统进行多人协同导航定位。为了提高定位精度,对基于测距定位的多人协同导航算法进行了研究。在完成多人协同导航定位的理论方法研究后,本文设计并实现了多人定位系统的原理样机,在此基础上进一步通过导航实验评估了多人定位系统的精度等性能指标。实验结果表明,本文设计的行人定位系统可以实现多人在复杂环境下的协同导航定位功能,具有一定的工程应用价值。
[Abstract]:With the popularity of navigation and positioning in intelligent mobile terminals and the vigorous development of location-based service LBS (Location-Based Service), people put forward higher requirements for accuracy and continuity of positioning. The pedestrian positioning method based on satellite navigation technology tends to mature and has achieved good results. However, in urban environment, because people usually use the scene of location service is indoor, satellite positioning system is affected by signal occlusion, interference and other factors, the positioning accuracy is poor or even unable to locate. In order to solve this problem, other positioning techniques must be used to obtain reliable and stable navigation and positioning results. The pedestrian navigation and positioning system based on inertial assistance, with its advantages of autonomous navigation and no additional facilities, has received extensive attention and concentrated research in engineering and academic circles. This paper focuses on the problem of pedestrian autonomous navigation and positioning in the condition of weak or missing satellite signal. In order to meet the practical needs of pedestrian positioning, this paper will start from two aspects: single location and multi-person positioning. The pedestrian navigation system based on micro inertial devices is mainly studied in order to realize the precise positioning of single person. On this basis, the function of multi-person navigation and positioning is realized by combining the cooperative navigation technology. In this paper, the working principle of strapdown inertial navigation system is studied, and the single position system is constructed with micro inertial device. In order to overcome the positioning error caused by the long time drift of inertial devices, the zero-velocity correction technique is applied to the Yu Jie integrated inertial navigation system. On the basis of pedestrian gait analysis, a zero-velocity detection algorithm based on multi-condition identification of zero velocity is studied, and a Kalman filter based on velocity error is constructed. In order to verify the method, a multi-group navigation experiment is designed. The experimental results show that the zero-velocity correction based on Kalman filter algorithm can effectively improve the positioning accuracy of strapdown inertial navigation system. In order to meet the needs of multi-person localization in a specific environment, this paper studies the multi-person positioning system based on cooperative navigation mechanism. In this paper, the ranging and positioning technology based on RSSI is introduced into the navigation system to assist the inertial navigation system to carry out multi-person cooperative navigation and positioning. In order to improve the positioning accuracy, the multi-person cooperative navigation algorithm based on ranging and location is studied. After the research on the theory and method of multi-person cooperative navigation and positioning, the principle prototype of multi-person positioning system is designed and implemented in this paper. On the basis of this, the precision of multi-person positioning system is further evaluated by navigation experiment. The experimental results show that the pedestrian positioning system designed in this paper can realize the cooperative navigation and positioning function of many people in complex environment, and it has certain engineering application value.
【学位授予单位】：南京师范大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN96

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