基于微惯性传感器的行人室内定位方法  

Pedestrian Indoor Positioning Method Based on Micro Inertial Sensor

作　　者：冯冲 孙宇 黄亮[2] FENG Chong;SUN Yu;HUANG Liang(Guangxi Spectroscopic Spacial Information Technology Co.Ltd.,Nanning 530000,China;Kunming University of Science and Technology,Kunming 650093,China)

机构地区：[1]广西光谱空间信息科技有限公司,南宁530000 [2]昆明理工大学,昆明650093

出　　处：《河南科学》2022年第5期701-708,共8页Henan Science

基　　金：云南省应用基础研究计划面上项目(2018FB078)。

摘　　要：为满足人们对室内定位的需求,设计了一种利用微机电系统(Micro Electro Mechanical System,MEMS)与惯性导航系统相结合的微惯性传感器(MEMS-IMU)用于行人室内导航定位.为进一步提高所设计的微惯性传感器(MEMS-IMU)的定位精度,提出了一种基于微惯性传感器(MEMS-IMU)的行人室内定位方法,该方法首先通过滑动窗口加速度方差算法采集零速区间,然后利用基于卡尔曼滤波的零速修正算法对零速区间进行修正.此外,通过实验对所提出的行人室内定位方法的可行性和精确性进行了验证.实验结果表明:所设计的MEMS-IMU具有较好的定位精度;通过滑动窗口加速度方差算法可以准确提取零速区间;经过基于卡尔曼滤波的零速修正算法修正后,所设计的微惯性传感器的定位精度明显提升;按照本研究提出的行人室内定位方法进行行人室内导航定位时,行人在室内行走100 m所产生的最终平面误差小于0.5 m,说明本研究提出的行人室内定位方法具有较好的可行性和精确性.In order to meet people’s demand for indoor positioning,a micro inertial sensor(MEMS-IMU)based on the combination of micro electro mechanical system(MEMS)and inertial navigation system is designed for pedestrian indoor navigation and positioning.In order to further improve the positioning accuracy of the designed micro inertial sensor(MEMS-IMU),a pedestrian indoor positioning method based on the micro inertial sensor(MEMS-IMU)is proposed.Firstly,the zero velocity interval is collected by the sliding window acceleration variance algorithm,and then the zero velocity interval is corrected by the zero velocity update algorithm based on Kalman filter.In addition,the feasibility and accuracy of the proposed pedestrian indoor location method are verified by experiments.The experimental results show that the designed MEMS-IMU has good positioning accuracy.The zero velocity interval can be accurately extracted by the sliding window acceleration variance algorithm.After the correction by the zero velocity update algorithm based on Kalman filter,the positioning accuracy of the designed micro inertial sensor is significantly improved.When the pedestrian indoor positioning method proposed in this study is used for pedestrian indoor navigation and positioning,the final plane error generated by pedestrian walking 100 m indoors is less than 0.5 m,which shows that the pedestrian indoor positioning method proposed in this study has good feasibility and accuracy.

关 键 词：室内定位 微惯性传感器 卡尔曼滤波 零速修正 零速区间 

分 类 号：U666.1[交通运输工程—船舶及航道工程]