一种采用足部航姿参考和肩部航向参考的室内个人导航方法_徐元.docVIP

一种采用足部航姿参考和肩部航向参考的室内个人导航方法_徐元 第24卷第3期 2016年6月 中国惯性技术学报 Vol.24 No.3 Journal of Chinese Inertial Technology Jun. 2016 文章编号：1005-6734(2016)03-0325-05 doi: 10.13695/ki.12-1222/o3.2016.03.009 Improved indoor pedestrian navigation method using low-cost foot-mounted AHRS and shoulder-mounted compass XU Yuan1, CHEN Xi-yuan2,3, WANG Yi-min1, MA Si-yuan1 (1. School of Electrical Engineering, University of Jinan, Jinan 250022, China; 2. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; 3. Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education, Nanjing 210096, China) Abstract: Aiming at the problem of poor observability of yaw measurement for foot-mounted attitude heading reference systems (AHRS), an indoor pedestrian navigation method by using low cost foot-mounted AHRS and shoulder-mounted compass is proposed. In this method, the yaw measured from the shoulder-mounted compass is directly used for the calculation of the attitude transformation matrix for the foot-mounted AHRS. And then, when the person is in a stance phase during walk, a Kalman filter (KF) is used to restrict the INS error drift. Experimental results show that the proposed method can effectively reduce the mean error of the position by about 30% compared with that without the shoulder-mounted compass. Key words: indoor pedestrian navigation; inertial navigation system; Kalman filter; yaw drift; foot-mounted attitude heading reference system 一种采用足部航姿参考和肩部航向参考的室内个人导航方法 徐 元1，陈熙源2,3，王宜敏1，马思源1 （1. 济南大学 自动化与电气工程学院，济南 250022；2. 东南大学 仪器科学与工程学院，南京 210096； 3. 东南大学 微惯性仪表与先进导航技术教育部重点实验室，南京 210096） 摘要：为了解决传统足部航姿参考系统中航向信息可观性较差的问题，提出了一种采用足部航姿参考 系统和肩部电子罗盘的室内个人导航方法。在这种模式下，肩部电子罗盘测量得到的航向信息被直接 用于计算足部航姿参考系统的姿态转移矩阵。在此基础上，通过在行人在行走过程中足部处于静止状 态时采用卡尔曼滤波器被用来限制惯性导航系统的误差漂移。实验结果显示，本文提出的方法平均位 置误差与不使用肩部电子罗盘的方法相比降低了30%左右。 关 键 词：室内行人导航；惯性导航系统；卡尔曼滤波