传感技术学报Issue(4)：598-602,5.DOI:10.3969/j.issn.1004-1699.2015.04.024
基于角度的HDE算法在室内行人航迹定位中的研究
Researching on Indoor Pedestrian Trajectory Based on Angle HDE Algorithm
楼喜中 1周乐宇 1叶敏展 2贾一展 1金宁1
作者信息
- 1. 中国计量学院信息工程学院，杭州310018
- 2. 中国电信股份有限公司浙江分公司，杭州310040
- 折叠
摘要
Abstract
The Heuristic Drift Elimination( HDE) algorithm has disadvantages such as the inaccurate heading angle and poor robustness,the AHDE algorithm was proposed which implementing Heuristic Drift Elimination based on heading angle with Extended Kalman Filter. The heading angle is renewed by Quaternion which is achieved from the integration of gyroscope data and accelerometer data. After updating the heading angle with the algorithm of Heuris-tic Drift Elimination,the angle can be used to reckon the pedestrian trajectory combined with step number and stride length. The experimental results show that,when walking in typical structured indoor environments,the error of the proposed algorithm is less than 2 m in 250 m distance,and the error of the HDE algorithm is 4 m roughly. On the other hand,when the sampling data rate of the sensors is 100Hz,the convergence range of feedback coefficient of the AHDE system can be extended to[0.005,0.23],however the range of the HDE system is[0.001,0.028]. That is to say the AHDE system is more robust than the HDE system.关键词
轨迹推算/启发式漂移消除/扩展卡尔曼滤波/计步器Key words
reckon trajectory/heuristic drift elimination/extended Kalman filter/pedometer分类
信息技术与安全科学引用本文复制引用
楼喜中,周乐宇,叶敏展,贾一展,金宁..基于角度的HDE算法在室内行人航迹定位中的研究[J].传感技术学报,2015,(4):598-602,5.
