基于惯性导航的平面航迹推算的研究
发布时间：2019-06-28 15:08
【摘要】：提出一种基于微机电惯性测量单元的室内定位系统。在本系统中,行人在一个平面上的位置和方向通过计算对人体膝部和腰部佩戴的传感器数据来获取。提出的算法实现了对膝部佩戴陀螺仪的行人行进的步伐进行复位计算以消除角位移误差,同时实现了对腰部佩戴陀螺仪测量的角速率进行连续推算以获取行进方向。结果表明,在一个平面上,行进62.32m的总距离时平均误差仅为0.1935m,标准差为0.0512m。
[Abstract]:An indoor positioning system based on micro-electromechanical inertial measurement unit is proposed. In this system, the position and direction of pedestrians on a plane are obtained by calculating the sensor data worn on the knee and waist of the human body. The proposed algorithm realizes the reset calculation of the walking pace of pedestrians wearing gyroscope on the knee in order to eliminate the angular displacement error, and realizes the continuous calculation of the angular rate measured by the waist wearing gyroscope in order to obtain the moving direction. The results show that the average error is only 0.1935 m and the standard deviation is 0.0512 m at the total distance of 62.32 m on a plane.
【作者单位】： 绵阳师范学院城乡建设与规划学院;西南石油大学计算机科学学院;
【分类号】：TP212.9
本文编号：2507393
[Abstract]:An indoor positioning system based on micro-electromechanical inertial measurement unit is proposed. In this system, the position and direction of pedestrians on a plane are obtained by calculating the sensor data worn on the knee and waist of the human body. The proposed algorithm realizes the reset calculation of the walking pace of pedestrians wearing gyroscope on the knee in order to eliminate the angular displacement error, and realizes the continuous calculation of the angular rate measured by the waist wearing gyroscope in order to obtain the moving direction. The results show that the average error is only 0.1935 m and the standard deviation is 0.0512 m at the total distance of 62.32 m on a plane.
【作者单位】： 绵阳师范学院城乡建设与规划学院;西南石油大学计算机科学学院;
【分类号】：TP212.9
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