现代电子技术2017，Vol.40Issue(12)：11-14,4.DOI:10.16652/j.issn.1004-373x.2017.12.003
多传感器组合的行人航位推算方法研究
Research on pedestrian dead reckoning method combined with multiple sensors
摘要
Abstract
An indoor pedestrian dead reckoning(PDR)system with low-cost multiple sensors is proposed,which contains three-axis accelerometer,three-axis gyroscope and three-axis magnetometer based on iPad. Initial alignment based on extended Kalman filter(EKF)is designed for low-cost sensors. The zero velocity update(ZUPT)method combined with magnetometer based on EKF is adopted to solve the problem of position error divergency in the walking process,and correct speed error,gyro error and course angle error by means of accelerometer and magnetometer,so as to achieve the purpose of reducing position er-ror. The experiment results show that the system can better satisfy the requirements of indoor pedestrian positioning,and as for the low-cost multi-sensor,the positioning error is about 2% of the total travelled distance. Compared with the existing PDR sys-tems,the system with low-cost sensors acquires higher positional accuracy.关键词
扩展卡尔曼滤波/ZUPT/磁力计/行人航位推算Key words
extended Kalman filter/ZUPT/magnetometer/pedestrian dead reckoning分类
信息技术与安全科学引用本文复制引用
邓林坤,郭杭,罗孝文,田宝连,何海平..多传感器组合的行人航位推算方法研究[J].现代电子技术,2017,40(12):11-14,4.基金项目
国家自然科学基金资助项目(41164001 （）
41374039) （）
