现代电子技术2017，Vol.40Issue(24)：1-4,8,5.DOI:10.16652/j.issn.1004-373x.2017.24.001
航向约束的行人导航算法研究
Research on pedestrian navigation correction algorithm based on heading constraint
摘要
Abstract
The MEMS inertial device has big zero-drift error with time accumulation and has poor observability for its heading error,which may cause the heading divergency of the pedestrian navigation. Therefore,a heading correction algorithm based on the main direction is proposed. Based on the fact that the heading angle while the pedestrian travels along the straight line main-tains within the constant range,taking the deviation between the pedestrian′s current heading and master heading as the observa-tion value when the heading changes,the extended Kalman filter(EKF)is used to estimate the error,so as to correct the heading. The navigation module is fixed on the upper surface of the shoes for about 200 m walking experiment. The experimental results show that the method can effectively suppress the heading divergency,and its positioning error is about 1% of the total walking distance.关键词
行人导航/航向发散/航向修正/EKFKey words
pedestrian navigation/heading divergency/heading correction/extended Kalman filter分类
信息技术与安全科学引用本文复制引用
郑佳瑶,苏中,李擎..航向约束的行人导航算法研究[J].现代电子技术,2017,40(24):1-4,8,5.基金项目
国家自然科学基金(61471046) （61471046）
北京市自然科学基金(4172022) （4172022）
北京市教委市属高校创新能力提升计划项目(TJSHG201510772017) （TJSHG201510772017）
高动态导航技术北京市重点实验室开放课题 （）
