华中科技大学学报（自然科学版）2017，Vol.45Issue(10)：85-89,5.DOI:10.13245/j.hust.171016
融合高度数据的行走定位算法研究
Study on pedestrian localization algorithm fused with height data
摘要
Abstract
An altimeter chip BMP180 was added into the attitude heading reference system (AHRS) and an information fuse algorithm based on the complementary filter was presented to improve the pe-destrian localization and suppress the upwards shift in displacement estimation .It was found that the errors accumulated during the double integral of acceleration measurements resulted in the serious shift ,and the accuracy became worse and worse over time .The measurements by an altimeter nearly had no shift ,but with a low signal to noise rate .The complementary filter was implemented to fuse two kinds of height information to improve the accuracy of the AHRS .Experiment results show that a low-cost chip BM P180 and a low computational burden filtering algorithm helped to remove the shift from the A HRS .关键词
航姿参考系统/定位/高度计/互补滤波/行走Key words
attitude heading reference system/localization/altimeter/complementary filtering/walk-ing分类
信息技术与安全科学引用本文复制引用
王金凤,李玉萍,庞牧野,向馗..融合高度数据的行走定位算法研究[J].华中科技大学学报（自然科学版）,2017,45(10):85-89,5.基金项目
国家自然科学基金资助项目 (61603284 ) （61603284 ）
武汉华夏理工学院校基金资助项目 (15008 ) . （15008 ）
