多传感器行人航位推算算法研究  

Research on Multisensor Pedestrian Dead Reckoning Algorithm

作　　者：陈新东 蔡鹏[1] 高大远[1] 王超[1] 朱海荣[1] CHEN Xindong;CAI Peng;GAO Dayuan;WANG Chao;ZHU Hairong(Navy Submarine Academy,Qingdao 266000)

机构地区：[1]海军潜艇学院,青岛266000

出　　处：《舰船电子工程》2022年第10期40-43,共4页Ship Electronic Engineering

摘　　要：针对利用足绑式微机电系统(MEMS)行人导航时,其定位航向会发散,同时在室内环境下,极易受到外部的干扰而导致磁极偏离地磁场,为了避免磁力计引入外部干扰,提出了一种基于MEMS的三轴加速度计、三轴陀螺仪及三轴磁力计的行人航向修正算法。设定了3种阈值条件进行步伐状态的检测;在零速度更新(ZUPT)基础上增加了磁角速率更新(MARU)算法,在行走过程中,行人处于零速度区间时,磁场恒定,而当传感器旋转时,磁力计三轴矢量会相应改变,通过磁场信息的变化作为零速度时刻陀螺仪输出的角速率观测值,并利用扩展卡尔曼滤波(EKF)对角速度误差进行补偿,从而抑制航向角误差。实验测试结果表明:该方法使得航向发散得到有效控制,定位精度有效提升,其终点定位误差占总路程的0.56%以内。For pedestrian navigation using foot-bound micro-electromechanical system(MEMS),its positioning heading will diverge,and in the indoor environment,it is extremely susceptible to external interference and the magnetic pole deviates from the geomagnetic field. A pedestrian heading correction algorithm based on MEMS-based three-axis accelerometer,three-axis gyroscope and three-axis magnetometer is presented. Three threshold conditions are set for gait state detection. The magnetic angular rate update(MARU)algorithm is added to the zero speed update(ZUPT). During walking,when the pedestrian is in the zero speed interval,the magnetic field is constant,and when the sensor rotates,the three-axis vector of the magnetometer will change accordingly. The change in magnetic field information is used as the angular rate observation value of the gyroscope output at zero speed,and the extended Kalman filter(EKF)is used to compensate the angular velocity error,thereby suppressing the heading angle error. Experimental test results show that this method effectively controls the heading divergence,improves the positioning accounts for less than 0.56% of the total distance.

关 键 词：行人导航 航向修正 ZUPT MARU EKF 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]