一种用于足绑式行人惯性导航的区间搜索零速检测器  

A zero-velocity detector based on interval search for foot-mounted pedestrian inertial navigation

作　　者：陈泽 潘献飞[1] 陈昶昊 吴美平[1] CHEN Ze;PAN Xianfei;CHEN Changhao;WU Meiping(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学智能科学学院自动化系,长沙410073

出　　处：《中国惯性技术学报》2020年第6期709-715,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61773394)。

摘　　要：针对在足绑式惯性行人导航系统中,传统阈值法零速检测器自适应差的问题,设计了一种区间搜索零速检测器,基于足部运动中的惯性数据特征自适应地搜索到最优的零速区间。以足部运动的一个步态周期作为零速区间搜索的基本单元,然后在基本单元中对加速度信息进行处理,将原始数据通过非线性函数映射到搜索空间中对数据差异化放大,最后利用在搜索空间数据收敛性确定最优零速区间。实验表明,在正常行走情况下,区间搜索零速检测器不需要参数调节,检测结果与具有最优阈值的SHOE方法匹配度约97.54%,定位精度在3 m/18 min以内。与改进的自适应零速检测器Adaptive-SHOE相比,性能相当,零速检测结果匹配度约98.51%。但是在多种运动混合情况下,Adaptive-SHOE失效,区间搜索零速检测正常工作。区间搜索法的结果与具有最优阈值的SHOE方法匹配度约89.12%,但是精度优于SHOE。区间搜索零速检测器具有较好的工程应用价值。Aiming at the problem of poor adaptability of traditional threshold-based zero-velocity detector in foot-mounted inertial pedestrian navigation system,an interval search zero-velocity detector is designed,which adaptively searches the optimal zero-velocity interval based on the inertial data characteristics of foot motion.Firstly,a gait cycle is considered as the basic unit to search the zero-velocity interval.In a gait cycle,accelerations are mapped to the search space by a nonlinear function to amplify the difference of raw data.Finally,The optimal zero-velocity interval is searched based on the convergence of the acceleration in the search space.Under walking,experiments show that the interval-search method without parameter adjustment has a matching degree of about 97.54%with the SHOE method with the optimal threshold.The positioning accuracy is about 3 m/18 min.Compared with Adaptive-SHOE,interval-search method has similar performance and the matching degree is about 98.51%.In the case of multiple motion mixing,Adaptive-SHOE fails.Interval-search method can still work.Compared with SHOE,the interval-search method has a matching degree of about 89.12%and has better accuracy.Interval-search zero-velocity detector has good engineering application value.

关 键 词：惯性行人导航 区间搜索零速检测器 搜索空间 最优零速区间 

分 类 号：U666.1[交通运输工程—船舶及航道工程]