摘要
针对MEMS惯性器件随时间累积零漂误差大及航向误差可观测性差,导致行人导航航向发散的问题,提出一种基于主方向的航向修正算法。基于行人沿直线行走航向角保持在常值范围内的事实,当航向发生变化时,将行人当前的航向与主航向的偏差作为观测值,利用EKF进行误差估计从而修正航向,最后将导航模块固定在鞋面上进行约200 m的行走实验。实验结果表明,该方法能有效地抑制航向发散,定位误差约为总行走路程的1%。
The MEMS inertial device has big zero-drift error with time accumulation and has poor observability for its heading error, which may cause the heading divergency of the pedestrian navigation. Therefore, a heading correction algorithm based on the main direction is proposed. Based on the fact that the heading angle while the pedestrian travels along the straight line main- tains within the constant range, taking the deviation between the pedestrian＇s current heading and master heading as the observa- tion value when the heading changes, the extended Kalman filter （EKF） is used to estimate the error, so as to correct the heading. The navigation module is fixed on the upper surface of the shoes for about 200 m walking experiment. The experimental results show that the method can effectively suppress the heading divergency, and its positioning error is about 1% of the total walking distance.
出处
《现代电子技术》
北大核心
2017年第24期1-4,8,共5页
Modern Electronics Technique
基金
国家自然科学基金(61471046)
北京市自然科学基金(4172022)
北京市教委市属高校创新能力提升计划项目(TJSHG201510772017)
高动态导航技术北京市重点实验室开放课题
关键词
行人导航
航向发散
航向修正
EKF
pedestrian navigation
heading divergency
heading correction
extended Kalman filter
