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中文摘要：
基于iPad的三轴加速度计、三轴陀螺仪和三轴磁力计设计一种低成本多传感器的室内行人航位推算（PDR）系统。对于低成本传感器，设计了基于扩展卡尔曼滤波（EKF）的初始对准；在行走过程中，针对位置误差发散的问题，采用基于EKF的零速度更新（ZUPT）和磁力计组合的方法，ZUPT修正速度误差，加速度计和磁力计对陀螺仪进行误差修正，同时对航向角误差修正，从而实现了降低位置误差的目的。实验结果表明，对于低成本多传感器，该系统可以较好地满足室内行人定位要求，定位误差占总路程的2%左右；与已有的行人航位推算系统比较，该系统使用低成本的传感器，获得了很高的定位精度。
英文摘要：
An indoor pedestrian dead reckoning(PDR)system with low?cost multiple sensors is proposed,which contains three?axis accelerometer,three?axis gyroscope and three?axis magnetometer based on iPad.Initial alignment based on extended Kalman filter(EKF)is designed for low?cost sensors.The zero velocity update(ZUPT)method combined with magnetometer based on EKF is adopted to solve the problem of position error divergency in the walking process,and correct speed error,gyro error and course angle error by means of accelerometer and magnetometer,so as to achieve the purpose of reducing position error.The experiment results show that the system can better satisfy the requirements of indoor pedestrian positioning,and as for the low?cost multi?sensor,the positioning error is about2%of the total travelled distance.Compared with the existing PDR systems,the system with low?cost sensors acquires higher positional accuracy.
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