一种基于双IMU框架的室内个人导航方法（英文）  

Indoor pedestrian navigation based on double-IMU framework

作　　者：徐元[1] 陈熙源[2,3] 李庆华[2,3] 唐建[2,3] 

机构地区：[1]济南大学自动化与电气工程学院,济南250022 [2]东南大学仪器科学与工程学院,南京210096 [3]东南大学微惯性仪表与先进导航技术教育部重点实验室,南京210096

出　　处：《中国惯性技术学报》2015年第6期714-717,共4页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金资助项目(50975049,41204025,51375087);山东省自然科学基金项目(ZR2014FP010);济南大学博士基金项目(XBS1503)

摘　　要：为了实现低成本的室内行人导航,提出了一种双惯性测量单元(IMU)框架。在这种模式下,一个IMU固定于足部,另一个IMU固定于肩部。当行人在行走过程中处于静止状态时,卡尔曼滤波器利用测量得到的速度和角速度误差对足部IMU的解算误差进行预估,与此同时,通过对足部IMU和肩部IMU测量得到的航向角做差完成对航向角误差的观测。在此基础上,双IMU框架结构采用了闭环模式。实验结果显示,采用该方法能够提供行人导航信息,平均位置误差与采用开环模式的方法相比降低了14.93%左右。In order to realize low-cost indoor pedestrian navigation, a framework with two inertial measurement units（IMU） is proposed. In this framework, one IMU is fixed on the foot, and the other one is fixed on the shoulder. When pedestrian is at rest in the process of walking, the velocity error and angular velocity error from observation are used by Kalman filter to estimate the calculation error of foot-mounted IMU. Meanwhile, the yaw error observation is fulfilled by achieving the difference between the yaw measured from shoulder-mounted IMU and the one measured from foot-mounted IMU. In this architecture, the two-IMU framework is arranged in closed loop mode. Experimental results show that the proposed method can provide navigation information of pedestrians, and the position＇s mean error is reduced by about 14.93% compared with that by the methods in open loop mode.

关 键 词：室内行人导航 惯性导航系统 卡尔曼滤波 足部惯性测量单元 

分 类 号：TN967.3[电子电信—信号与信息处理]