行人惯性导航系统平台设计与实现  

DESIGN AND IMPLEMENTATION OF PEDESTRIAN INERTIAL NAVIGATION SYSTEM

作　　者：万骏炜 曾庆化[1] 陈磊江 陈维娜[1] 邓孝逸[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]中航工业陕西宝成航空仪表有限责任公司,陕西宝鸡721006

出　　处：《计算机应用与软件》2015年第2期45-47,170,共4页Computer Applications and Software

基　　金：国家自然科学基金项目(60904091;61104188);航空科学基金项目(20100112005);江苏省高校优势学科建设工程项目;中央高校基本科研业务费专项基金项目(NP2012103;NP2011049)

摘　　要：为了满足日益迫切的个人自主导航需求,设计具有实时导航功能的行人惯性导航系统平台。系统平台由搭载低成本MEMS(Micro Electro Mechanic System)惯性器件的硬件平台和基于VC编写的上位机软件平台组成。重点研究行人导航算法、系统平台搭建、传感器在线标定和信息实时处理。多次行走实验的实时导航误差均在2%以内,证明该导航系统平台在不依赖于外界信息的情况下具有良好的实时自主导航性能。To meet the increasingly urgent demand in autonomous pedestrian navigation, we design a pedestrian inertial navigation system platform with real-time navigation function. The system platform consists of hardware and host computer software platforms, the former carries low-cost MEMS inertial sensors and the latter is based on VC compiling. We elaborately study the pedestrian navigation algorithm, construc- tion of system platform, online calibration of sensors, and real-time data processing. The real-time navigation errors in a couple of walking ex- periments are all within 2%, which proves that this navigation system platform has good autonomous real-time navigation performance under the condition of not relying on external information.

关 键 词：行人惯性导航系统 实时 在线标定 零速检测 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]