【作者】 刘瑜；

【导师】 贺红；

【作者基本信息】 山东大学 ， 电子与通信工程（专业学位）， 2015， 硕士

【摘要】 本论文为解决目前广泛使用的基于卫星的GPS定位系统中存在的易被遮挡的缺点,研究一种新的定位系统,该系统适用于对复杂遮挡环境下的步行者进行导航,可广泛应用于卫星信号被严重遮挡的室内、偏僻室外等场景。基于惯性传导的步行者定位系统,具有不受环境约束、使用灵活等优点,在娱乐场所、应急救灾等领域都有重要的应用价值。本论文首先基于ARM Cortex-M3内核的32位处理器,使用12C总线完成六轴姿态传感器MPU6050以及磁感应强度传感器HMC5883数据采集,同时通过传感器输出信号的初始校正、低通滤波、六位置法标定以及卡尔曼滤波等进行传感器信号预处理并完成实验平台搭建。基于该实验平台,论文基于对现有的步行者步长模型、姿态更新、航向估算方法以及位置推算算法的理论推导与实验验证,确定出适合本项目的应用模型,并进行大量的实验验证从而进行参数修定。对于步行者运动航向的估算,本论文提出基于陀螺仪和电子罗盘的航向融合算法,实验结果表明该算法可以提高定位的精度与稳定性。本论文目前搭建的实验平台及算法只适用于二维空间内,暂时未考虑上楼下楼等运动。进一步基于高度计研究完成三维空间导航及与GPS相结合以拓展项目的应用场景是本论文未来的发展方向。更多还原

【Abstract】 A new pedestrian positioning system is proposed in this paper to solve the shortcomings of the widely used GPS positioning system, whose signal is easy to be blocked. This system is suitable for pedestrian positioning in a complex environment, in case of GPS signal missing, whether indoors or outdoors. The pedestrian positioning system based on inertial measurements has the advantages of no environmental constraints and convenience for use. It can be widely used in the field of entertainment, emergency relief and so on.Firstly, the six-axis inertial sensor MPU6050 and HMC5883 magnetic sensor data were acquired with the use of ARM Cortex-M3 32-bit processor and I2C bus. Secondly, the experimental platform was built, and the output signals of sensors were preprocessed through initial calibration, low-pass filter, six-position calibration method and Kalman filter. Thirdly, based on this experimental platform, the existing stride length model, attitude updating algorithm, heading angle estimation method and position determination algorithm were theoretically derivated and experimentally verificated, then the suitable application model for this project was determined. Finally, a lot of experiments were carried out and parameters for the proposed algorithm were calibrated. A fusion algorithm based on gyroscope and electronic compass was proposed to estimate the heading angle of pedestrian. Experimental results show that the proposed algorithm can improve the positioning accuracy and stability.The experimental platform and the algorithm in this paper are only suitable for the two-dimensional space, and the movement of going upstairs and downstairs is not considered. Using the altimeter to achieve three-dimensional space navigation and combining with GPS to expand the application scenarios should be researched in the future.更多还原