欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
针对IMU误差随时间累积的问题，本文详细分析和设计了基于foot—mounted的IMU室内行人航位推算系统，包括步伐检测算法、静态初始对准、IMU导航算法、EKF等模块。在EKF中通过zuPT和ZARU计算速度和角速度的误差并进行补偿，从而间接降低位置的发散速度。多次实验结果表明：在短距离、短时间内，该系统在室内行人航位推算有较高的性能，位置误差与总路程的比值在0．5％-2％范围内。
英文摘要：
Aiming at the problem of the increasing error of IMU over time, an IMU indoor pedestrian dead reckoning system based on foot-mounted was analyzed and designed in detail, which contains step de- tection algorithm, static initial alignment, IMU navigation algorithms, as well as, EKF algorithm. All al- gorithms were coded in MATLAB. The error of velocity and angle velocity was calculated and compensa- ted with ZUPT and ZARU in EKF, in order to reduce indirectly the divergence speed of position. The ex- periments results showed that the system could have high performance in indoor pedestrian dead reckoning by less time and short distance with the ratio of position error and the total travelled distance from 0.5 % to 2 %.
同期刊论文项目
同项目期刊论文
期刊信息
位置：