With MEMS inertial sensors, MEMS magnetic sensor and a small GPS receiver for indoor and outdoor pedestrian navigation data source, a hardware platform of indooroutdoor pedestrian navigation system is designed based on CortexM4 core. This paper mainly studies the structure of multisensor navigation system, multisource information fusion method, multicondition 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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徐江颖, 熊剑, 郭杭, 衷卫声, 杨欢.室内外行人导航系统研究[J].压电与声光,2017,39(3):442-447. XU Jiangying, XIONG Jian, GUO Hang, ZHONG Weisheng, YANG Huan. Study on Indoor-outdoor Pedestrian Navigation System[J]. PIEZOELECTRICS AND ACOUSTOOPTICS