摘要
针对低精度微型惯性测量单元的系统误差随时间累积、速度误差和水平姿态角可用零速修正方法较准确计算,而航向角误差易发散且难以估计的问题,本文提出基于电子罗盘航向角修正的行人航迹推算方法。包括静态初始对准、MIMU导航算法、电子罗盘航向角修正方法、自适应零速检测、卡尔曼滤波等内容。对惯性测量单元的修正,主要用罗盘航向角与陀螺仪航向角的差值、角速度、零速伪观测量作为观测量,对速度、位置和姿态误差进行估计和补偿。经MIMU传感器实验验证,实际路线和导航路线的水平定位误差为4.7米,高度定位误差为1米,位置误差与总路程的比值为0.6%。表明该方法能有效地抑制航向角误差发散,有效提高行人航位推算的精度。
Aiming at the problem that the system error of the low-precision miniature inertial measurement unit accumulates over time,the speed error and the horizontal attitude angle can be calculated more accurately by the zero-speed correction method,and the heading angle error is easy to diverge but difficult to estimate.This paper proposes pedestrian dead reckoning method based on electronic compass heading angle correction,which includes static initial alignment,MIMU navigation algorithm,electronic compass heading angle correction method,adaptive zero-speed detection,Kalman filter module,etc.The correction of the MIMU mainly uses the difference between the compass heading angle and the gyroscope heading angle,angular velocity,and zero-speed pseudo-observations as observations to estimate and compensate for speed,position and attitude errors.The MIMU sensor experiment verifies that the horizontal positioning error of the actual route and the navigation route is 4.7 meters,the altitude positioning error is 1 meter,and the ratio of the position error to the total distance is 0.6%.It shows that the method can effectively suppress the divergence of heading angle errors and can effectively improve the accuracy of pedestrian dead reckoning.
作者
罗远云
艾菊梅
LUO Yuanyun;AI Jumei(School of Information Engineering,East China University of Technology,Nanchang 330000,China)
出处
《智能计算机与应用》
2020年第7期117-121,125,共6页
Intelligent Computer and Applications
