融合毫米波雷达和惯性传感器的行人定位系统研究  

Research on pedestrian positioning system integrating millimeter wave radar and inertial sensors

作　　者：王余珊 郑建立[1] WANG Yushan;ZHENG Jianli(School of Health Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学健康科学与工程学院,上海200093

出　　处：《智能计算机与应用》2024年第8期191-196,共6页Intelligent Computer and Applications

基　　金：国家重点研发计划项目(2020YFC2005802,2020-2023)。

摘　　要：为老年人在发生紧急情况时可以得到及时救援,本文对行人惯性导航进行研究,可以获得行人的实时位置。传统的卫星定位,定位精度较低且受遮挡物影响,不能满足现代城市的室内外定位需求。本文设计了融合毫米波雷达和惯性传感器的行人定位系统,在捷联惯性导航解算基础上采用扩展卡尔曼滤波融合磁力计和毫米波雷达的数据得出最佳估计值。设计了两组不同运动轨迹的测试实验,验证系统的有效性,并通过7次不同运动情况下的重复实验验证了系统的稳定性,该系统在47 m范围内的定位误差在3%以内,在400 m范围内的定位误差在5%以内,基本满足定位需求。To assist the elderly in receiving timely rescue during emergencies,this paper investigates pedestrian inertial navigation to obtain real-time location information of pedestrians.Traditional positioning methods rely on satellite navigation,which has low accuracy and is affected by obstructions,making it inadequate for modern urban indoor and outdoor positioning needs.To address this,the paper designs a pedestrian positioning system that integrates millimeter-wave radar and inertial sensors.By employing an extended Kalman filter to fuse multi-sensor data from inertial sensors and millimeter-wave radar based on strapdown inertial navigation calculations,the system obtains the optimal estimated value.Two sets of test experiments with different motion trajectories were designed to verify the system′s effectiveness,and seven repeated experiments under different motion conditions validated the system′s stability.The results show that within a range of 47 meters,the positioning error of the system is within 3%,and within a range of 400 meters,the positioning error is within 5%,which basically meets the positioning requirements.

关 键 词：行人惯性导航 毫米波雷达 扩展卡尔曼滤波 捷联惯性导航 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]