室内外行人导航系统研究
发布时间：2019-03-07 21:21
【摘要】：采用微机电系统(MEMS)惯性传感器、MEMS磁传感器及小型全球定位系统(GPS)接收机为室内外行人导航数据源,基于Cortex-M4为内核,搭建了室内外行人导航系统硬件平台。重点研究了多传感器导航系统的结构、多源信息融合方法、多条件零速检测方法及零速修正等理论方法。并通过试验,采集实测数据进行分析、验证行人导航系统设计的性能。结果表明,在GPS信号良好情况下,定位误差在2.5m以内;无GPS信号期间,路线长度为110m时,定位误差在总路经的5%内。
[Abstract]:The hardware platform of indoor and outdoor pedestrian navigation system is built based on micro-electro-mechanical system (MEMS) inertial sensor, MEMS magnetic sensor and small global positioning system (GPS) receiver for indoor and outdoor pedestrian navigation data source. Based on Cortex-M4, the hardware platform of indoor and outdoor pedestrian navigation system is built. The structure of multi-sensor navigation system, multi-source information fusion method, multi-condition zero-speed detection method and zero-speed correction method are studied in detail. The performance of the pedestrian navigation system is verified by the test, the measured data are collected and the performance of the pedestrian navigation system is verified. The results show that when the GPS signal is good, the positioning error is less than 2.5m, and when the route length is 110m, the positioning error is within 5% of the main route without GPS signal.
【作者单位】： 南昌大学信息工程学院;南昌大学空间科学与技术研究院;南昌大学信息工程学院测控教研室;
【基金】：国家自然科学基金资助项目(41374039)
【分类号】：TN96
，
本文编号：2436462
[Abstract]:The hardware platform of indoor and outdoor pedestrian navigation system is built based on micro-electro-mechanical system (MEMS) inertial sensor, MEMS magnetic sensor and small global positioning system (GPS) receiver for indoor and outdoor pedestrian navigation data source. Based on Cortex-M4, the hardware platform of indoor and outdoor pedestrian navigation system is built. The structure of multi-sensor navigation system, multi-source information fusion method, multi-condition zero-speed detection method and zero-speed correction method are studied in detail. The performance of the pedestrian navigation system is verified by the test, the measured data are collected and the performance of the pedestrian navigation system is verified. The results show that when the GPS signal is good, the positioning error is less than 2.5m, and when the route length is 110m, the positioning error is within 5% of the main route without GPS signal.
【作者单位】： 南昌大学信息工程学院;南昌大学空间科学与技术研究院;南昌大学信息工程学院测控教研室;
【基金】：国家自然科学基金资助项目(41374039)
【分类号】：TN96
，
本文编号：2436462
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