一种采用足部航姿参考和肩部航向参考的室内个人导航方法（英文）  

Improved indoor pedestrian navigation method using low-cost foot-mounted AHRS and shoulder-mounted compass

作　　者：徐元[1] 陈熙源[2,3] 王宜敏[1] 马思源[1] 

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》2016年第3期325-329,共5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：为了解决传统足部航姿参考系统中航向信息可观性较差的问题,提出了一种采用足部航姿参考系统和肩部电子罗盘的室内个人导航方法。在这种模式下,肩部电子罗盘测量得到的航向信息被直接用于计算足部航姿参考系统的姿态转移矩阵。在此基础上,通过在行人在行走过程中足部处于静止状态时采用卡尔曼滤波器被用来限制惯性导航系统的误差漂移。实验结果显示,本文提出的方法平均位置误差与不使用肩部电子罗盘的方法相比降低了30%左右。Aiming at the problem of poor observability of yaw measurement for foot-mounted attitude heading reference systems（AHRS）,an indoor pedestrian navigation method by using low cost foot-mounted AHRS and shoulder-mounted compass is proposed.In this method,the yaw measured from the shoulder-mounted compass is directly used for the calculation of the attitude transformation matrix for the foot-mounted AHRS.And then,when the person is in a stance phase during walk,a Kalman filter（KF） is used to restrict the INS error drift.Experimental results show that the proposed method can effectively reduce the mean error of the position by about 30% compared with that without the shoulder-mounted compass.

关 键 词：室内行人导航 惯性导航系统 卡尔曼滤波 航向偏移 足部航姿参考系统 

分 类 号：TN967.3[电子电信—信号与信息处理]