Department of Electrical, Computer, and Software Engineering, The University of Auckland, Auckland 1010, New Zealand.
Sensors (Basel). 2020 Aug 10;20(16):4476. doi: 10.3390/s20164476.
Information fusion combining inertial navigation and radio frequency (RF) technologies, is commonly applied in indoor positioning systems (IPSs) to obtain more accurate tracking results. The performance of the inertial navigation system (INS) subsystem is affected by sensor drift over time and the RF-based subsystem aims to correct the position estimate using a fusion filter. However, the inherent sensor drift is usually not corrected during fusion, which leads to increasingly erroneous estimates over a short period of time. Among the inertial sensor drifts, gyroscope drift has the most significant impact in determining the correct orientation and accurate tracking. A gyroscope drift correction approach is proposed in this study and is incorporated in an INS and ultra-wideband (UWB) fusion IPS where only distance measurements from UWB subsystem are used. The drift correction approach is based on turn detection to account for the fact that gyroscope drift is accumulated during a turn. Practical pedestrian tracking experiments are conducted to demonstrate the accuracy of the drift correction approach. With the gyroscope drift corrected, the fusion IPS is able to provide more accurate tracking performance and achieve up to 64.52% mean position error reduction when compared to the INS only tracking result.
信息融合结合惯性导航和射频 (RF) 技术，常用于室内定位系统 (IPS) 中，以获得更精确的跟踪结果。惯性导航系统 (INS) 子系统的性能受到传感器随时间漂移的影响，而基于 RF 的子系统旨在使用融合滤波器校正位置估计。然而，在融合过程中通常不会校正固有传感器漂移，这导致在短时间内估计值的误差越来越大。在惯性传感器漂移中，陀螺仪漂移对确定正确的方向和精确跟踪的影响最大。本研究提出了一种陀螺仪漂移校正方法，并将其应用于 INS 和超宽带 (UWB) 融合 IPS 中，其中仅使用 UWB 子系统的距离测量值。漂移校正方法基于转弯检测，以考虑陀螺仪漂移在转弯过程中累积的事实。进行了实际的行人跟踪实验，以证明漂移校正方法的准确性。通过校正陀螺仪漂移，融合 IPS 能够提供更精确的跟踪性能，与仅 INS 跟踪结果相比，平均位置误差减少了 64.52%。
