摘要
研究并实现一种基于Android手机终端固有IMU和GPS模块的无缝组合定位方法,给出了系统设计方案及实验结果。在GPS信号缺失时利用手机终端固有的IMU惯性传感器采集行人运动信息完成步态检测、航向解算和航迹推算,实现GPS信号缺失环境下的无缝定位。基于Android系统和百度地图的开放平台在手机终端完成算法实现和人机交互。测试结果表明,GPS信号缺失环境下的单一IMU定位方案得到的系统定位相对误差可控制在5 m范围内,可满足一般室内环境下的导航定位要求。
The method of seamless combination of IMU and GPS module based on Android mobile terminal is researched and implemented, and the design scheme and experimental results are given. When the GPS signal is missing, the gait detection, heading calculation and track estimation can be carried out by using the IMU inertial sensor which is inherent in the mobile terminal to complete the seamless positioning. Based on the Android system and the open platform of Baidu map, the algorithm implementation and human-computer interaction can be completed in the mobile terminal. The test results show that the relative error of the system location can be controlled within 5 meters by the single IMU positioning scheme in the absence of GPS signal, which can meet the navigation and positioning requirements in the general indoor environment.
作者
孙伟
王野
李瑞豹
杨聃
Sun Wei;Wang Ye;Li Ruibao;Yang Dan(School of Geomatics,Liaoning Technical University,Fuxin 123000,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2018年第9期3571-3577,共7页
Journal of System Simulation
基金
辽宁省教育厅高等学校基本科研项目(LJ2017FAL005)
辽宁省"百千万人才工程"培养经费资助(辽百千万立项【2015】76号)
城市空间信息工程北京市重点实验室开放基金(2018206)
关键词
无缝定位
惯性测量单元
卫星导航系统
安卓平台
seamless positioning
inertial measurement unit
satellite navigation system
Android platform
