基于惯性传感器的行人导航系统零速度检测算法。
A zero velocity detection algorithm using inertial sensors for pedestrian navigation systems.
机构信息
Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea.
出版信息
Sensors (Basel). 2010;10(10):9163-78. doi: 10.3390/s101009163. Epub 2010 Oct 13.
Abstract
In pedestrian navigation systems, the position of a pedestrian is computed using an inertial navigation algorithm. In the algorithm, the zero velocity updating plays an important role, where zero velocity intervals are detected and the velocity error is reset. To use the zero velocity updating, it is necessary to detect zero velocity intervals reliably. A new zero detection algorithm is proposed in the paper, where only one gyroscope value is used. A Markov model is constructed using segmentation of gyroscope outputs instead of using gyroscope outputs directly, which makes the zero velocity detection more reliable.
摘要
在行人导航系统中，行人的位置是使用惯性导航算法计算的。在该算法中，零速度更新起着重要作用，其中检测到零速度间隔，并重置速度误差。为了使用零速度更新，需要可靠地检测零速度间隔。本文提出了一种新的零检测算法，该算法仅使用一个陀螺仪值。使用陀螺仪输出的分段而不是直接使用陀螺仪输出构建了一个马尔可夫模型，这使得零速度检测更加可靠。
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