传感技术学报2017，Vol.30Issue(4)：542-549,8.DOI:10.3969/j.issn.1004-1699.2017.04.010
基于准静止磁场检测的行人导航算法框架iIEZ+
Pedestrian Navigation Framework iIEZ+ Based on Quasi-Static Magnetic Field Detection
摘要
Abstract
To eliminate the heading drift error of pedestrian navigation inertial system,magnetic correction algorithm is a valid method.But magnetic disturbance may lead to heading error,and the accuracy of heading is a key factor of the whole inertial system.To solve the problem,the improved quasi-static magnetic field detection method is proposedon the basis of Afzal's to choose magnetic correction algorithm(MC)or Heuristic Drift Elimination algorithm(HDE),which implements the complementation of two methods.The detection method is integrated into IEZ+ framework proposed by A.R.Jiménez,which forms a new framework named iIEZ+.The iIEZ+ method was tested in several indoor and outdoor environments and has a good performance under magnetic disturbance scenarios.It is able to offer reliable heading and position information.The positioning errors are about 0.6%~1.6% of the total travelled distance,which are better than other methods based on IEZ framework.关键词
行人惯性导航/准静止磁场检测/扩展卡尔曼滤波器/地磁修正算法/启发式航向漂移消除算法/磁干扰Key words
pedestrian inertial navigation/quasi-static magnetic field detection/extended Kalman filter/magnetic correction/heuristic drift elimination/magnetic disturbance分类
信息技术与安全科学引用本文复制引用
张立强,苏中,李擎..基于准静止磁场检测的行人导航算法框架iIEZ+[J].传感技术学报,2017,30(4):542-549,8.基金项目
国家自然科学基金项目61471046 （）
北京市教委市属高校创新能力提升计划项目(TJSHG201510772017) （TJSHG201510772017）
