基于惯性导航的平面航迹推算的研究-计算机科学.PDF

第 44 卷第6A 期 Vo l. 44 No. 6A 计算机科学 2017 年 6 月 CO岛1PUTER SCIENCE June 2017 基于惯性导航的平面航迹推算的研究 周蜻1 陈庙红2 吴豪杰2 (绵阳师范学院城乡建设与规划学院 绵阳 621000)1 (西南石油大学计算机科学学院 成都 610500)2 摘 要 提出一种基于微机电惯性测量羊元的室内定位系统。在本系统中，行人在一个平面上的位置和方向通过计 算对人体膝部和腰部佩戴的传感器数据来获取。提出的算法实现了对膝部佩戴陀螺仪的行人行进的步伐进行复位计 算以消除角位移误差，同时实现了对腰部佩戴陀螺仪测量的角速率进行连续推算以获取行进方向。结果表明，在一个 平面上，行进 62. 32m 的总距离时平均误差仅为 0.1935m，标准差为 0.0512m。 关键词 惯性传感器，陀螺仪，行人导航，航位推算 中圄法分类号 TP30 1. 6 文献标识码 A Research on Plane Dead Reckoning ßased on Inertial Navigation System ZHOU Jing 1 CHEN Miao-honi WU Hac叮ie2 CSchool of Urban and Rural Planning and Construction ,Mianyang Teachers College ,Mianyang 621000 ,China)1 CSchool of Computer Science ,Southwest Petroleum University ,Chengdu 610500 ,China)2 Abstract An indoor positioning system based on MEMS inertial measurement unit was presented in this paper. In this system ,the position and direction of pedestrians on a plane (zero slope) are obtained by using the sensors to the waist and knees of the human body. The proposed algorithm can execute reset calculation to the moving steps of pedestrians with wearing knee gyroscope so as to eliminate the error of angular displacement , and can execute resetcontinuous reckσ， ning for the angular rate obtained by testing gyroscope on the waist so as to get moving direction. The results show that ,in a plane ,the average tr叮ectory error of the total distance of 62. 32 meters is O. 1935 meters and the standard ab solute deviation is 0.0512 meters. Keywords Inertial sensor , Gyroscope ,Pedestrian navigation ,Dead reckoning