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Low cost MEMS/GPS integrated navigation system and low cost MEMS/GPS integrated navigation method for pedestrian navigation

An integrated navigation system and pedestrian navigation technology, applied in the field of low-cost MEMS/GPS integrated navigation system, can solve the problems of position and speed information divergence, reduce the stability and accuracy of GPS navigation positioning mode, and improve accuracy and reliability , Conducive to the effect of expansion and cropping

Inactive Publication Date: 2017-07-14
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, the GPS signal is affected by building occlusion, multipath effects, etc., which greatly reduces the stability and accuracy of the GPS navigation positioning mode.
Low-cost MEMS short-term navigation has high accuracy and is autonomous and passive, but the position and velocity information diverges over time

Method used

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  • Low cost MEMS/GPS integrated navigation system and low cost MEMS/GPS integrated navigation method for pedestrian navigation
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  • Low cost MEMS/GPS integrated navigation system and low cost MEMS/GPS integrated navigation method for pedestrian navigation

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Embodiment Construction

[0046] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0047] The invention provides a low-cost MEMS / GPS integrated navigation system and method for pedestrian navigation, which adopts a multi-thread concurrent integrated navigation solution scheme. Considering the real-time and accuracy of the whole program, the navigation program is written based on UCOSIII system, including strapdown inertial navigation calculation thread, Kalman filter thread, upper computer data interaction thread, timer and other modules; the navigation hardware device is composed of AHRS BOX Onboard STM32F4 processor, Bluetooth module, low-cost accelerometer and gyroscope, low-cost GPS module, tablet computer, etc. Among them, the tablet computer is used for monitoring and displaying navigation solution data, and performs data interaction with the processor through bluetooth communication.

[0048] Such as figure 1As s...

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Abstract

The invention discloses a low cost MEMS / GPS integrated navigation system for pedestrian navigation. The low cost MEMS / GPS integrated navigation system comprises a STM32F4 processor, a Bluetooth module, a low cost accelerometer, a gyroscope, a low cost GPS module and a tablet computer, wherein the STM32F4 processor and the tablet computer perform data exchange through the Bluetooth module, and the output terminals of the low cost accelerometer, the gyroscope and the low-cost GPS module are respectively connected to the STM32F4 processor. The invention further discloses a low cost MEMS / GPS integrated navigation method for pedestrian navigation. The low cost MEMS / GPS integrated navigation method comprises: carrying out modeling on an integrated navigation system inertial navigation error state quantity equation; establishing an SINAP / GPS loosely integrated navigation system state equation; carrying out modeling on an integrated navigation system measurement equation; and carrying out Kalman filtering according to the state equation and the measurement equation. With the technical scheme of the present invention, the strapdown inertial navigation and the Kalman filter solution can be efficiently achieved, and the high-precision and high-reliability navigation result can be obtained; and the effective support can be provided for the engineering achievement and the application of the MEMS / GPS integrated navigation for pedestrian navigation, and the outstanding practical value is provided.

Description

technical field [0001] The invention belongs to the technical field of positioning navigation and control, in particular to a low-cost MEMS / GPS combined navigation system and method for pedestrian navigation. Background technique [0002] At present, GPS positioning and navigation technology is widely used in life and work. GPS positioning accuracy is high and the cost is low. Smart phones have been implanted with GPS modules, which provides great convenience for people's work and life. However, the GPS signal is affected by building occlusion, multipath effects, etc., which greatly reduces the stability and accuracy of the GPS navigation positioning mode. Low-cost MEMS short-term navigation has high precision and is autonomous and passive, but the position and velocity information diverges over time. MEMS and GPS integrated navigation system can overcome their own defects and provide more reliable navigation and positioning services. With the development of MEMS and GPS, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
Inventor 殷德全熊智闵艳玲杨菁华许建新景羿铭施丽娟孔雪博唐攀飞戴怡洁赵宣懿黄欣万众徐丽敏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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