基于异构多源传感的行人长航时变步长误差修正技术

低成本微机电系统(micro-electro-mechanical system,MEMS)传感器广泛应用于行人定位导航中,但在长航时下,MEMS传感器零位会随时间产生漂移,导致行人变步长误差成为主要误差.且传统的足绑式导航利用MEMS传感器自身信息判断零速时刻会出现错判漏判等问题.针对这两点,根据行人步态变化规律,在判断零速时刻时,加入压力传感器辅助的异构多源传感,同时针对系统误差设计了用于补偿的误差修正算法.对比传统方法,该设计可以明显提高导航定位精度,定位精度可提高一个数量级.

IMU Error Correction Technology Based on Multi-source Information Assistance

Low-cost MEMS sensors were widely used in pedestrian positioning and navigation. As the navigation time becomes longer, the zero position of MEMS sensor would drift with time, which makes the variable step error of pedestrian became the main error. On the other hand, the traditional foot-bound navigation used the MEMS sensor''s own information to judge the time of zero speed, and there would be some problems such as wrong judgment and missed judgment. According to the pedestrian gait change rule, when judging the zero speed time, heterogeneous multi-source sensing assisted by pressure sensor is added, and an error correction algorithm for compensation is designed for system error. Compared with the traditional method, this design can improve the navigation and positioning accuracy by an order of magnitude.