Error correction algorithm for pedestrian navigation system based on adaptive stride length constraint

被引：0
|
作者：
Lu Y. [1 ]
Hui J. [1 ]
Yang J. [1 ]
Luo Y. [1 ]
Xiu W. [1 ]
机构：
[1] Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Post and Telecommunications, Chongqing
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2023年 / 31卷 / 02期
关键词：
error correction; inertial measurement unit; pedestrian navigation system; stride length constraint; ZUPT;
D O I：
10.13695/j.cnki.12-1222/o3.2023.02.004
中图分类号：
学科分类号：
摘要：
In order to solve the problem that the positioning accuracy of pedestrian navigation system based on micro inertial sensors would accumulate with time, a pedestrian navigation error correction algorithm based on adaptive step size constraint is proposed according to the strapdown inertial navigation theory and human kinematics characteristics. The proposed algorithm firstly divides the pedestrian movement interval by zero-speed detection, then calculates the stride length in each interval by using the adaptive stride length estimation model according to the acceleration information, and finally corrects the navigation error by zero-speed correction and stride length constraint model. In the experiment, the WT901BC attitude instrument is fixed on the pedestrian heel and the algorithm is verified by walking around the closed-loop path. The experimental results show that, compared with the zero-speed correction, the average distance error between the start and end points decreases from 2.50 m to 0.18 m and the average navigation closed-loop error decreases from 1.04% D to 0.07% D after 240 m walking by the adaptive stride length constraint algorithm, which effectively improves the positioning accuracy of the pedestrian navigation system. © 2023 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.
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页码：126 / 131and140
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