【作者】 张金亮； 秦永元； 梅春波；

【Author】 ZHANG Jin-liang,QIN Yong-yuan,MEI Chun-bo (College of Automation,Northwestern Polytechnical University,Xi’an 710072)

【机构】 西北工业大学自动化学院；

【摘要】 研究了基于低精度MEMS惯性IMU单元的个人导航系统的惯性导航及修正算法。设计的MEMS个人导航系统安装在步行者的鞋上,与鞋体固联。个人导航系统的导航算法在传统捷联惯性导航算法基础上,根据人行走时脚部运动的加速度统计特性,设计了一种滑动方差检测算法,通过设置判断阈值并计算加速度计输出的比力幅值和滑动方差,可以实现静止检测得到每一步运动的静止时间片段。然后通过设计的改良卡尔曼滤波器在静止时间片段内估计姿态、速度和位置等导航误差并进行反馈校正,实现零速修正功能。最后通过MEMS惯性系统实测实验验证了导航修正算法的有效性,并指出了进一步的研究方向。更多还原

【Abstract】 A new navigation algorithm was studied on shoe-mounted Personal navigation system(PNS),which is composed of a low accuricy MEMS IMU.According to the statistical characteristic of human footsteps,a so-called slip variance detection algorithm is proposed to detect the stance phase between two steps by comparing the slip variance with a presetted threshold.Through a kalman filter designed for Zero Velocity Update,navigation errors including attitude error、velocity error and position error,can be estimated and feeded back to system to improve navigation precision.In the end,experiments are conducted using a MEMS IMU to verify the algorithm’s availability,and future research directions in this field are pointed out.更多还原