基于双轴地磁航向误差自旋修正的行人自主定位方法  

Pedestrian autonomous positioning method based on biaxial geomagnetic azimuth error rotation correction

作　　者：赵辉[1,2,3] 苏中 刘宁[1,2,3] 刘福朝[1,2,3] 李连鹏[2,3] ZHAO Hui;SU Zhong;LIU Ning;LIU Fuchao;LI Lianpeng(Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science and Technology University,Beijing 100192,China;Key Laboratory of Modern Measurement and Control Technology,Ministry of Education,Beijing Information Science and Technology University,Beijing 100192,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]北京信息科技大学现代测控技术教育部重点实验室,北京100192 [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6期585-592,636,共9页Journal of Chinese Inertial Technology

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

摘　　要：针对行人自主定位的航向误差漂移问题,提出了一种双轴地磁航向误差自旋修正方法。在自主定位前进行原地主动旋转,利用椭圆拟合修正方法得到双轴地磁测量的误差补偿系数,从而实现对外界环境地磁干扰的有效抑制。采用修正后的双轴地磁测量信息直接计算得到航向信息,结合峰值法跨步探测模型和线性步长估计模型,实现对行人的自主定位。为验证算法的有效性和稳定性,在室外环境开展了多组行人自主定位实验。结果表明,在150米的定位实验中,所提算法定位轨迹起点与终点的平均偏差约为总行程的0.95%,与当前五种主流算法对比,具有更好的鲁棒性和定位精度。A biaxial geomagnetic azimuth error correction method is proposed to solve the problem of azimuth error drift in personnel autonomous positioning.The error compensation coefficient of biaxial geomagnetic measurement is obtained by ellipse fitting correction method before the positioning,to suppress the geomagnetic interference in external environment.The azimuth information is calculated using the modified biaxial geomagnetic measurement,and the location of pedestrian is realized by combining the peak stride detection method and the linear step-length estimation model.To verify the effectiveness and stability of the proposed method,several positioning experiments are carried out in outdoor environment.The results show that the average deviation between the starting point and the ending point is about 0.95%of the total traveling distance in the 150 m positioning experiment.Compared with the current five mainstream algorithms,it has better robustness and azimuth accuracy.

关 键 词：地磁测量 航向解算 自主定位 主动旋转 地磁修正 

分 类 号：U666.1[交通运输工程—船舶及航道工程]