中文摘要：

针对微机电系统（micro-electro mechanical system,MEMS）惯性器件在导航解算中存在较大的累积误差问题,提出了一种基于MEMS惯性器件与Android智能手机融合的室内个人导航算法.导航算法在捷联惯性导航算法的基础上,根据人行走时的运动特点,引入了零速度检测与修正算法来检测人行走过程中的静止状态,并对行人静止时刻的速度和位置信息进行校正,以降低累积误差.导航解算中由于陀螺仪漂移导致获得的行人运动方向角误差较大,故采用MEMS陀螺仪输出姿态信息与Android智能手机中的电子罗盘方向角融合的行人运动方向校正算法来获取行人运动方向,并结合滑动均值滤波算法来进一步校正行人的运动方向,提高导航精度.最后通过实验结果验证了导航累积误差修正算法的可行性和有效性.

英文摘要：

As accumulative error remains a problem in indoor positioning and navigation algorithm. A new indoor personal navigation algorithm based on the fusion of micro-electro mechanical system （MEMS） and smartphone electronic compass was proposed. The navigation algorithm was based on the traditional inertial navigation algorithms, adopting the algorithm of the zero velocity detection and update algorithm to detect the stationary state through people walking according to human walking characteristics, and then regulating speed and location information of pedestrians during their static moment through zero velocity update algorithm to improve accuracy of system navigation. And a large deviation of pedestrians movement direction was caused by gyroscope drift of MEMS inertial device. The pedestrians heading was regulated through the Smartphone electronic compass data combined with moving average filter algorithm, and the accuracy of pedestrians movement direction was improved. In the end, the results of experiments indicate that the navigation error correction algorithm is feasible and effective.