基于短期数据融合的自主三维导航系统  

Independent 3D Navigation System Based on Short-term Data Fusion

作　　者：陈莹超[1,2] 熊继军[1,2] 周兆英[2] 谭秋林[1,2] 李增彦[2] 

机构地区：[1]中北大学,仪器科学与动态测试教育部重点实验室,山西太原030051 [2]清华大学精密仪器与机械学系,北京100084

出　　处：《仪表技术与传感器》2017年第1期130-133,138,共5页Instrument Technique and Sensor

基　　金：十二五装备预研项目

摘　　要：针对室内或无GPS的环境中必须布置其他通信设备才能实现行人三维导航的问题,提出了一种基于自主式MEMS惯性组合系统,采用短期数据融合,从而实现无需外界辅助设备的行人三维导航定位的方法。根据MEMS微惯性组合原理构建误差修正方程,详述了基于零速修正的高度融合补偿过程,并通过低成本样机进行真实实验。实验结果表明,所提出的方法能够实现行人在三维运动中的准确导航定位,定位误差不大于总行程的1.1%,比传统惯性导航系统降低了74%,在工程上具有较好的应用前景。In view that the indoor or without GPS environment have to arrange other communication devices in order to a- chieve the pedestrian navigation, a novel method which adopted short-term data fusion to achieve the pedestrian 3D navigation and positioning without external auxiliary devices based on independent MEMS micro inertial integrated systems in this paper were presented. Achieved error correction equation with reference to MEMS micro inertial integrated principle and the work of the height data fusion based on zero velocity updates （ZUPT） was detailed. The considered scheme was researched with data in low- cost prototype. The experimental resuhs show that the proposed method can locate the pedestrian 3D motion accurately. The posi- tioning error of the navigation is less than 1.1% of the traveled distance, this method reduces positioning error by 74% as com- pared to traditional inertial navigation systems, it has practical values in engineering applications.

关 键 词：行人导航 融合 自主 零速修正 室内 三维 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计] TP274[自动化与计算机技术—检测技术与自动化装置]