文章摘要
引用本文:韩勇强,田晓春.基于足部安装MIMU的行人导航系统设计[J].导航定位与授时,2018,5(1):22-27 本文二维码信息
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基于足部安装MIMU的行人导航系统设计
Design of Pedestrian Navigation System Based on Foot-Mounted MIMU
  
DOI:
中文关键词:  行人导航  MIMU  零速修正  航向修正
English Keywords:Pedestrian navigation  MIMU  Zero velocity update  Azimuth correction
基金项目:总装预研基金项目(9140A0903175BQ0****)
作者单位
韩勇强 北京理工大学自动化学院,北京 100081 
田晓春 北京自动化控制设备研究所,北京 100074 
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中文摘要:
      针对无卫星环境中行人导航定位需求,设计了一种基于足部安装 MIMU的行人导航系统,重点研究了行人导航鞋传感器选型及样机设计流程;并在此基础上设计了基于零速修正和航向修正的行人导航算法,研究了零速区间内最优航向角的提取方法,实现了对瞬时磁干扰产生的磁航向角的有效判断。最后,利用设计的行人导航系统开展了三维空间航迹测试实验,实验结果表明,在不增加高度约束的条件下,该行人导航系统定位精度为0.33%,能够满足坡路环境中行人的定位需求。
English Summary:
      To meet the demand of navigation in GNSS denied environment,a pedestrian navigation system based on foot-mounted MIMU was designed. Two key problems were studied,including the choosing of inertial sensors as well as the design process of the prototype. A pedestrian navigation algorithm was designed based on zero velocity update and azimuth correction. An optimal azimuth angle calculation method within the zero-velocity interval was proposed,which was capable of effectively evaluating the instantaneous disturbed magnetic azimuth angle. At last,a 3-Dementional space positioning experiment was carried out using the previous designed navigation system. Experiment results have shown that the pedestrian navigation system designed can reach a positioning accuracy of 0.33% without altitude restrain,and thus can meet the positioning requirement of pedestrian in slope environment.
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