徐江颖1, 熊剑1, 郭杭3, 衷卫声2, 杨欢3.室内外行人导航系统研究[J].压电与声光,2017,39(3):442-447.XU Jiangying1, XIONG Jian2, GUO Hang3, ZHONG Weisheng2, YANG Huan3.Study on Indoor-outdoor Pedestrian Navigation System[J].PIEZOELECTRICS AND ACOUSTOOPTICS
室内外行人导航系统研究
Study on Indoor-outdoor Pedestrian Navigation System
  
DOI:10.11977/j.issn.1004-2474.2017.03.029
中文关键词:  微机电系统(MEMS)  行人导航  信息融合  零速检测  误差标定  无缝导航
英文关键词:microelectromechanical systems(MEMS)  pedestrian navigation  information fusion  zero velocity detection  error calibration  seamless navigation
基金项目:国家自然科学基金资助项目(41374039)
作者单位
徐江颖1, 熊剑1, 郭杭3, 衷卫声2, 杨欢3 1.南昌大学 信息工程学院江西 南昌 3300312.南昌大学 信息工程学院测控教研室江西 南昌 3300313.南昌大学 空间科学与技术研究院江西 南昌 330031 
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中文摘要:
      采用微机电系统(MEMS)惯性传感器、MEMS磁传感器及小型全球定位系统(GPS)接收机为室内外行人导航数据源,基于Cortex-M4为内核,搭建了室内外行人导航系统硬件平台。重点研究了多传感器导航系统的结构、多源信息融合方法、多条件零速检测方法及零速修正等理论方法。并通过试验,采集实测数据进行分析、验证行人导航系统设计的性能。结果表明,在GPS信号良好情况下,定位误差在2.5 m以内;无GPS信号期间,路线长度为110 m时,定位误差在总路经的5%内。
英文摘要:
      With MEMS inertial sensors, MEMS magnetic sensor and a small GPS receiver for indoor and outdoor pedestrian navigation data source, a hardware platform of indoor outdoor pedestrian navigation system is designed based on Cortex M4 core. This paper mainly studies the structure of multi sensor navigation system, multi source information fusion method, multi condition zero velocity detection method and theory of ZUPT. The performance of the pedestrian navigation system is validated through the analysis of the measured data and experiment. The results show that the positioning error is less than 2.5 m with good GPS signals; while the positioning error is less than 5% of the total path without PGS signals and at the route length of 110 m.
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