基于等式约束卡尔曼的双MIMU行人导航方案  

Dual MIMU Pedestrian Navigation Scheme Based on Equality Constraint Kalman Filtering

作　　者：李佳璇[1] 周广涛[1] 刘晓旭[1] 关劲[2] 程正生 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]海军装备部,北京100036 [3]中国船舶重工集团第707研究所,江西九江332000

出　　处：《压电与声光》2015年第2期237-241,共5页Piezoelectrics & Acoustooptics

基　　金：国家自然科学基金资助项目(61203225)

摘　　要：基于微机电系统(MEMS)的自主式行人导航系统通常安装在步行者的足部,利用零速校正来提高系统的定位精度。针对零速校正航向不精确问题,提出了基于等式约束卡尔曼滤波的双微型惯性测量组合(MIMU)行人导航方案。根据所设计的双MIMU系统在物理空间的相对位置关系,构造二阶非线性等式约束方程,并详述了等式约束卡尔曼滤波的解算过程。结合MEMS真实试验进行研究,对脚部负载双MIMU系统离线数据处理。根据试验结果验证了相比较于单MIMU行人导航方案,基于等式约束的双MIMU行人导航系统具有更高的定位精度。Independent pedestrian navigation system which increases the accuracy of positioning through zero velocity updates（ZUPT）based on MEMS technology is usually foot-mounted.A dual miniature inertial measurement unit（MIMU）pedestrian navigation scenario based on equality constraint Kalman filtering is proposed,which focus on solving the problem that the heading can′t be precisely estimated during the procedure of ZUPT.Achieve nonlinear second order equality constraint with reference to relative position of two MIMU systems and work of data fusion applying a Kalman filter-type estimator in the presence of such constraint is reviewed.The considered scheme is researched with data in real MEMS experiment of foot-mounted MIMU,then off-line process the data of dual footmounted MIMU.According to the test results which is compared to a single MIMU pedestrian navigation scheme,equality constrained dual MIMU pedestrian navigation system has higher positioning accuracy.

关 键 词：自主行人导航 微机电系统(MEMS) 双MIMU 等式约束 卡尔曼滤波器 

分 类 号：TN401[电子电信—微电子学与固体电子学] V249.322[航空宇航科学与技术—飞行器设计]