哈尔滨工程大学学报2016，Vol.37Issue(3)：408-413,6.DOI:10.11990/jheu.201412076
步幅和建筑方向辅助的行人导航算法
Stride and building heading aided algorithm for pedestrian navigation
摘要
Abstract
In view of the low positioning accuracy achieved owing to poor observability of the cause of heading error during zero velocity updating ( ZUPT) , on the basis of ZUPT, we propose a heading aided algorithm based on pe⁃destrian stride and the building direction to expand the dimensions of the observation. From the movement of a pe⁃destrian, we obtained the stride direction and building heading. Then, we established a measurement model based on the velocity and heading errors, using a Kalman filter for the update. Furthermore, we investigated the Rauch Rung Streibel ( RTS) smoothing algorithm, and smoothed the trajectory using the RTS smoother to solve the muta⁃tion problem. Finally, we conducted experiments to prove the algorithm's validity by using the MTi⁃G inertial meas⁃urement unit ( IMU) of Xsens in the Netherlands, and verified the effectiveness of the algorithm by comparing its positioning error with those of different algorithms. The results show that the maximum positioning error does not ex⁃ceed 3.4 m when the walking distance is 70 m.关键词
IMU/零速校正/行人步幅/建筑方向/RTS平滑/定位误差Key words
inertial measurement unit(IMU)/zero velocity updating(ZUPT)/pedestrian stride/building direc-tion/RTS smoothing/positioning error分类
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于飞,白红美,高伟,赵博,叶攀..步幅和建筑方向辅助的行人导航算法[J].哈尔滨工程大学学报,2016,37(3):408-413,6.基金项目
国家自然科学基金资助项目（51379047）． （）
