摘要
为了跟踪定位徒步行走人员的实时位置,设计了一种基于三条件零速检测的行人定位导航系统。首先采集脚面的9轴数据:三轴加速度、角速度、磁强,然后利用卡尔曼滤波算法进行滤波处理,对处理后的数据用三条件判断的零速检测算法判断运动状态零速时刻,运用行人航迹推算算法进行定位解算。经过实验验证:该方法准确度达到94.5%,满足行人的导航定位的要求,并提高了导航定位的实时性与准确性。
In order to track and locate the real-time position of hikers,the paper designed a pedestrian positioning and navigation system based on three-condition zero-velocity detection.Firstly,sampling the 9-axis data of user’s foot,including tri-axial accel eration,angular velocity and magnetic intensity.Then,using the Kalman filter algorithm to filter,using the zero-speed detection al gorithm based on three-condition to judge the zero velocity moment.Last,using pedestrian-dead-reckoning to position the loca tion.The experimental results show that the accuracy of the methods reaches 94.5%,which meets the requirements of pedestrian navigation and positioning,and improves the real-time and accuracy of navigation and positioning.
作者
杨梦瑶
种阳
汪宇晴
张卓凡
YANG Meng-yao;CHONG Yang;WANG Yu-qing;ZHANG Zhuo-fan(College of Engineering,Beijing Forestry University,Beijing 100083,China)
出处
《电脑知识与技术》
2019年第9Z期105-107,共3页
Computer Knowledge and Technology
基金
国家自然科学基金资助项目(51605031)
北京林业大学“国家级大学生创新创业训练计划”(项目编号:201810022046)
中国博士后科学基金特别资助项目(2018T110055)和面上资助项目(2016M600051)
关键词
导航
行人定位
行人航迹推算
零速检测
卡尔曼滤波
navigation
pedestrian position
pedestrian-dead-reckoning
zero velocity detection
kalman filtering
