摘要
提出一种基于微机电惯性测量单元的室内定位系统。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。
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 reckoning 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 trajectory error of the total distance of 62.32 meters is 0.1935 meters and the standard absolute deviation is 0.0512 meters.
出处
《计算机科学》
CSCD
北大核心
2017年第S1期582-586,共5页
Computer Science
关键词
惯性传感器
陀螺仪
行人导航
航位推算
Inertial sensor
Gyroscope
Pedestrian navigation
Dead reckoning
