带足距辅助的双惯导行人导航硬件系统设计  

Dual-INS pedestrian navigation system design with foot distance measuring

作　　者：周路旸 胡一恭 武元新[2,3] Zhou Luyang;Hu Yigong;Wu Yuanxin(School of Aeronautics and Astronautics,Central South University,Changsha 410083,China;School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Shanghai Key Lab of Navigation and Location Services,Shanghai 200240,China)

机构地区：[1]中南大学航空航天学院,湖南长沙410083 [2]上海交通大学电子信息与电气工程学院,上海200240 [3]上海市北斗导航与位置服务重点实验室,上海200240

出　　处：《电子技术应用》2018年第7期89-93,共5页Application of Electronic Technique

基　　金：国家自然科学基金(61422311;61673263)

摘　　要：针对高精度行人室内自主导航与定位的应用需求,设计了集成Arduino和Xsens Awinda惯性测量套件的可穿戴式人体运动测量设备原型。该系统穿戴方便,可靠性高,实现了双足IMU信息与足间距离的同步测量,支持数据的无线传输、远程保存与分析。足间距离通过改造的双SRF10超声波测距模块进行连续采集,并结合双足惯性测量数据使用零速检测算法得到步行步态规律,有助于提高行人惯性导航定位精度。In order to meet the application requirements of high-precision pedestrian autonomous navigation and indoor positioning,a prototype of wearable human motion measurement system integrating Arduino and Xsens Awinda inertial measurement kit is de-signed. The device is convenient to wear and highly reliable which is capable of simultaneous measurement of feet inertial informa-tion and the feet range. The function of wireless data transmission, remote storage and analysis is also supported. The gait pattern is obtained by zero-velocity detection algorithm using the inertial data, the feet range information is continuously measured by mod-ified SRF10 ultrasonic range finder, which is supposed to improve the accuracy of inertial navigation and positioning.

关 键 词：惯性测量单元 室内定位 可穿戴设备 超声波测距 足距 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]