摘要
针对行人导航定位问题,研究了基于人体运动学辅助的可穿戴式行人导航系统实现的关键技术。首先基于人体运动学原理构建了零速检测模型,使用最优综合判断条件有效检测出对应的零速时刻,实时进行速度和姿态的更新修正。在检测到零速时刻时,将速度误差、位置误差作为观测量,经Kalman滤波估计惯导系统误差并进行反馈校正,抑制惯导系统的误差,提高导航定位精度。研制了集信息采集、数据传输、导航解算与监控显示于一体的可穿戴式行人导航系统,可对行人的运动状态进行实时监控。所设计的基于人体运动学辅助的可穿戴式行人导航系统,平均定位误差小于行走距离的1.1%,最大不超过1.7%,验证了本系统的可靠性和适用性。
In this paper, a wearable pedestrian navigation system based on human body kinematics is studied. The human body kinematics principle is constructed based on zero velocity detection model, using the optimal comprehensive judgment conditions, it can effectively detects the zero velocity moment, update speed and attitude correction in real time.When the zero velocity moment is detected, the velocity error and position error are as the observed quantity, the Kalman filter to estimate inertial navigation system error and feedback correction, inhibition of inertial navigation system error and improve the precision of navigation. And developed a set of information collection, data transmission, navigation and monitor display in one of the wearable pedestrian navigation system, can monitor the motion state of the pedestrians. Finally,through the verification the actual data acquisition and scenario testing, this paper based on the design of human body kinematics aided wearable pedestrian navigation system, the average positioning error is less than 1. 1% of the maximum walking distance, not more than 1.7%, to verify the reliability and applicability of the system.
作者
张苗
许建新
黄欣
殷德全
熊智
ZHANG Miao;XU Jian-xin;HUANG Xin;YIN De-quan;XIONG Zhi(Nanjing University of Aeronautics and Astronautics,Nanjing 211106)
出处
《导航与控制》
2018年第4期1-6,13,共7页
Navigation and Control
基金
国家自然科学基金(编号:61673208)
江苏省"333工程"科研项目资助(编号:BRA2016405)
江苏省六大人才高峰资助项目(编号:2013-JY-013)
江苏省自然科学基金(编号:BK20170815)
关键词
人体运动学辅助
零速修正
KALMAN滤波
行人导航系统
human body kinematics assistance
zero speed correction
Kalman filtering
pedestrian navigation system
