一种脚绑IMU辅助的行人室内定位定姿方法  

Pedestrian Indoor Positioning and Orientation Method Based on Foot-mounted IMU

作　　者：旷俭 刘韬 牛小骥[1] KUANG Jian;LIU Tao;NIU Xiaoji(GNSS Research Center,Wuhan University,Wuhan 430079,China)

机构地区：[1]武汉大学卫星导航定位技术研究中心,湖北武汉430079

出　　处：《无线电工程》2020年第8期637-642,共6页Radio Engineering

基　　金：国家重点研发计划子课题“高精度室内定位前沿技术研究”(2016YFB0502202)。

摘　　要：针对低精度的室内移动测图和室内定位指纹数据库采集需求,提出了一种脚绑IMU辅助的行人室内定位定姿方法。使用零速修正和少量的坐标已知点,解算得到脚绑IMU的准确位置;将脚绑IMU的位置投影到背部,作为背部安装的定位定姿系统(POS)的位置修正信息,实现准确的位置和姿态估计。基于真实行人运动数据的仿真结果表明,该方法可行性高,且相邻2个坐标已知点的间距为50 m时能够保证亚米级的定位能力,横滚角和俯仰角差异小于0.1°,航向角差异为1°~2°。提出的行人室内POS方法具有成本低、操作便捷、精度高和不受环境影响等特点,能够有效提升室内环境下定位指纹数据采集效率以及降低动态参考值的获取成本。To address the requirements of low-precision indoor mobile mapping and indoor positioning fingerprint database collection,a foot-mounted IMU-assisted pedestrian indoor positioning and orientation method is proposed.To achieve accurate position and attitude estimation,the method uses zero velocity correction and a small number points of known coordinates to solve the exact position of the foot-mounted IMU;then,the position of the foot-mounted IMU is transformed by projection as position correction information for the back-mounted positioning and orientation system(POS).Simulation results based on real pedestrian movement data show that the method is highly feasible and can guarantee sub-meter positioning capability when the distance between two adjacent coordinates is 50 m;the difference between roll and pitch angle is less than 0.1°,heading angle difference is 1°~2°.The proposed indoor pedestrian POS method has the characteristics of low cost,convenient operation,high accuracy,and no environmental impact.It can effectively improve the efficiency of positioning fingerprint data collection in indoor environments and reduce the acquisition cost of dynamic reference values.

关 键 词：FM-IMU 室内定位 定位定向系统 指纹数据库采集 室内位置参考值 

分 类 号：P228[天文地球—大地测量学与测量工程]