一种滑窗积分推算的行人惯性定位算法  

A sliding window integral reckoning algorithm for pedestrian inertial positioning

作　　者：赵辉[1,3] 陈文彬[2] 苏中 刘宁[1,3] ZHAO Hui;CHEN Wenbin;SU Zhong;LIU Ning(Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science and Technology University,Beijing 100192,China;China Electronics Technology Group Limited,Beijing 100036,China;School of Automation,Beijing Information Science and Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学、高动态导航技术北京市重点实验室,北京100192 [2]中国电子科技集团有限公司,北京100036 [3]北京信息科技大学自动化学院,北京100192

出　　处：《中国惯性技术学报》2023年第3期228-236,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61771059,61801032);国家重点研发计划(2020YFC1511702);北京市自然科学基金(4214071)。

摘　　要：针对当前行人惯性定位算法存在穿戴部位限制、运动适应性差、长时误差发散的问题,提出了一种滑窗积分推算的行人惯性定位算法。首先通过设置滑动窗口构建短时独立的捷联积分方式,抑制累积误差发散速度。然后融合滑窗内位移增量和航向信息推算得到行人运动轨迹。利用公开数据集、智能手机、自研惯性传感器开展了多组行人惯性定位实验。实验结果表明,相较于传统的ZUPT和PDR算法,本文算法的定位误差小于总行程的1%,定位精度提升了50%以上,在穿戴方式、运动适应性和定位精度方面具有明显优势。Aiming at the current pedestrian inertial positioning algorithm with the problems of wearing position limitation,poor motion adaptability and long-time error divergence,a sliding window integration-based pedestrian inertial positioning algorithm is proposed.Firstly,a short-time independent strapdown integration mode is constructed by setting a sliding window to suppress the accumulated error dispersion rate.Then the displacement increment and heading information in the sliding window are fused to derive the pedestrian's motion trajectory.Several sets of pedestrian inertial positioning experiments are carried out by using public datasets,smartphones,and self-developed inertial sensors.The experiment results show that compared with the traditional ZUPT and PDR algorithms,the positioning error of the proposed algorithm is less than 1%of the total trip,and the positioning accuracy is improved by more than 50%,which has obvious advantages in the aspects of wearing mode,motion adaptability and positioning accuracy.

关 键 词：行人导航 卫星拒止 惯性导航 滑窗积分 微惯性测量单元 

分 类 号：U666.1[交通运输工程—船舶及航道工程]