河北工业科技2018，Vol.35Issue(3)：185-190,6.DOI:10.7535/hbgykj.2018yx03006
基于惯性导航的室内定位误差修正算法
Indoor positioning error correction algorithm based on inertial navigation
摘要
Abstract
Aiming at the problem that the displacement error of the INS is accumulated over time,which leads to lower posi-tioning accuracy in the process of indoor positioning,an indoor positioning error correction algorithm based on inertial naviga-tion is introduced by analyzing the characteristics of people and zero speed during walking.The algorithm determines the zero velocity point by judging the output of the accelerometer and the gyroscope through the maximum likelihood estimation algo-rithm,and then performs the error correction by using the extended Kalman filter algorithm to establish the state equation and observation equation.Simulation platform is set up by using Matlab for the algorithm simulation.The results show that the improved zero speed detection algorithm improves the accuracy rate of zero speed detection,makes displacement error to be suppressed effectively,and controls the location error within 3%.The improved algorithm has some practical value for indoor positioning error correction.关键词
无线通信技术/室内定位/零速检测/惯性导航/MEMS/扩展卡尔曼滤波Key words
wireless communication technology/indoor positioning/zero speed detection/inertial navigation/MEMS/extended Kalman filter分类
信息技术与安全科学引用本文复制引用
陈国通,王小娜,张晓旭,许文倩,张璞..基于惯性导航的室内定位误差修正算法[J].河北工业科技,2018,35(3):185-190,6.基金项目
河北省科技支撑计划项目(18210803D) （18210803D）
