基于多传感器数据融合的室内行人航位推算法  

Indoor pedestrian dead reckoning method based on multi-sensor data fusion

作　　者：柳胜凯 苏婷立 王彬彬 金学波[1] 彭世禹 LIU Sheng-kai, SU Ting-li, WANG Bin-bin, JIN Xue-bo, PENG Shi-yu(School of Computer and Information Engineering,Beijing Technology and Business University,Beijing 100048, Chin)

机构地区：[1]北京工商大学计算机与信息工程学院,北京100048

出　　处：《传感器与微系统》2018年第3期133-137,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61673002)

摘　　要：针对惯性测量单元(IMU)本身存在测量漂移,很难获得精确的室内行人轨迹的问题,提出了使用多个传感器信息融合的方案,包括IMU和视频摄像头,并结合卡尔曼滤波和零速检测算法进行参数优化,以提高行人运动轨迹的精度。仿真结果表明:算法可以有效降低行人轨迹的误差。Due to drift of measuremen of inertial measurement unit（ IMU）,it is difficult to get accurate trajectory of pedestrian indoor,a scheme fusing multiple sensors information is proposed,include inertial measurement unit（ IMU） and vedio camera,combined Kalman filtering with zero-velocity detection algorithm for parameters optimization. The simulation results show that the algorithm can effectively reduce the error of pedestrian trajectory.

关 键 词：惯性测量单元 多传感器信息融合 卡尔曼滤波 零速检测算法 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]