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低成本BD/MEMS紧密耦合行人导航算法

Low-Cost BD/MEMS Tightly-Coupled Pedestrian Navigation Algorithm.

作者信息

Lin Tianyu, Zhang Zhenyuan, Tian Zengshan, Zhou Mu

机构信息

Chongqing Key Lab of Mobile Communications Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China.

出版信息

Micromachines (Basel). 2016 May 16;7(5):91. doi: 10.3390/mi7050091.

DOI:10.3390/mi7050091
PMID:30404267
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC6190053/
Abstract

Pedestrian Dead Reckoning (PDR) by combining the Inertial Measurement Unit (IMU) and magnetometer is an independent navigation approach based on multiple sensors. Since the inertial component error is significantly determined by the parameters of navigation equations, the navigation precision may deteriorate with time, which is inappropriate for long-time navigation. Although the BeiDou (BD) navigation system can provide high navigation precision in most scenarios, the signal from satellites is easily degraded because of buildings or thick foliage. To solve this problem, a tightly-coupled BD/MEMS (Micro-Electro-Mechanical Systems) integration algorithm is proposed in this paper, and a prototype was built for implementing the integrated system. The extensive experiments prove that the BD/MEMS system performs well in different environments, such as an open sky environment and a playground surrounded by trees and thick foliage. The proposed algorithm is able to provide continuous and reliable positioning service for pedestrian outdoors and thereby has wide practical application.

摘要

通过结合惯性测量单元（IMU）和磁力计的行人航位推算（PDR）是一种基于多传感器的独立导航方法。由于惯性分量误差很大程度上由导航方程的参数决定，导航精度可能会随时间下降，这不适用于长时间导航。尽管北斗（BD）导航系统在大多数场景下都能提供高精度导航，但由于建筑物或茂密植被的影响，卫星信号很容易受到干扰。为了解决这个问题，本文提出了一种紧密耦合的BD/微机电系统（MEMS）集成算法，并构建了一个原型来实现该集成系统。大量实验证明，BD/MEMS系统在不同环境中表现良好，如开阔天空环境以及被树木和茂密植被环绕的操场。所提出的算法能够为户外行人提供连续可靠的定位服务，因此具有广泛的实际应用价值。

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