【摘要】 提高基于微机械(Micro-Electro-Mechanical System,MEMS)惯性导航系统(Inertial Navigation System,INS)的室内行人三维定位精度一直是一个研究热点和难点,其中器件误差是影响MEMS-INS精度的一个棘手问题.由于器件误差产生的机理十分复杂,采用现有的修正技术无法准确地对误差进行估计建模,导致MEMS-INS的位置精度不高.本文从室内环境结构分析入手,提出了一种三维地图匹配的条件随机场算法.通过设计导航输出的位姿信息与室内状态点的数学关系,结合最佳轨迹求取的算法建立室内三维地图匹配的算法模型.最后通过算法求解出的最佳匹配点坐标修正惯性导航输出的位置误差.更多还原

【Abstract】 Improving micro-electro-mechanical inertial navigation system based indoor pedestrian localization is a hot and hard topic these days.It is because random errors of MEMS gyroscopes and accelerators are very complicated,and very difficult to model using norm techniques.In this paper,a map matching method based on conditional random fields and indoor 3 D map is proposed.The algorithm is designed by establishing the mathematical relationship between the inertial position and the interior points of indoor map,and the optimal trajectory algorithm is used to get the estimated locations.The position errors of inertial navigation are corrected according to the matching points solved by the algorithm.更多还原