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Course error correctingmethod and apparatus and magnetic field detection method and apparatus

A technology of heading error and magnetic field measurement, which is applied to the size/direction of the magnetic field, navigation through speed/acceleration measurement, etc., and can solve problems such as errors

Active Publication Date: 2017-08-01
湖南云箭格纳微信息科技有限公司
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Problems solved by technology

[0006] The problem to be solved by the present invention is to provide a new heading error correction method and device and a magnetic field detection method and device for the problem that using the calculated heading value of the steady-state magnetic field to correct the heading of the gyroscope will introduce additional errors in the prior art

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  • Course error correctingmethod and apparatus and magnetic field detection method and apparatus
  • Course error correctingmethod and apparatus and magnetic field detection method and apparatus
  • Course error correctingmethod and apparatus and magnetic field detection method and apparatus

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with accompanying drawing.

[0046] In the present invention, if it is determined that the magnetic field at a certain step during the person's traveling process is a steady-state magnetic field, the course angle obtained from the magnetic field data at each moment in the corresponding static time interval is corrected.

[0047] The steady-state magnetic field is a judgmental description of the stability of the geomagnetic field. Because the geomagnetic field will be subject to different degrees of pollution interference in complex indoor or outdoor environments, it will cause interference in the heading angle calculated based on it, and indirectly affect the follow-up gyroscope. Heading angle correction. In the steady-state magnetic field, within a fixed time interval, the sampling values ​​of the total strength of multiple local geomagnetic fields obtained by the magnetic sensor remain stable, or the...

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Abstract

The invention provides a course error correcting method. The course error correcting method comprises the following steps: (a) collecting magnetic field measurement data, gyroscope measurement data and accelerometer measurement data; (b) calculating detection statistics; (c) determining whether a magnetic field is in a stable state or not in a corresponding time interval between an s step and a (s+m-1) step of a person; and (d) if the magnetic field is in the stable state, adopting a magnetic field solved course as an observation amount, estimating a course angle error by utilizing Kalman filtering, and correcting the course of the person by utilizing the course angle error. The invention also provides a course error correcting apparatus. The course error correcting apparatus comprises an accelerometer, a gyroscope, a magnetometer, a signal acquisition unit and a signal processing unit. The invention also provides a magnetic field detection method and apparatus.

Description

technical field [0001] The invention relates to a heading error correction method, in particular to a gyroscope heading drift error correction method. The invention belongs to the technical field of autonomous positioning of indoor personnel, and specifically relates to a method and a device for correcting a gyroscope heading drift error by using a steady-state magnetic field, and a magnetic field detection method and device. Background technique [0002] In the autonomous positioning technology based on micro-inertial navigation, the inertial measurement unit (including micro-accelerometer and micro-gyroscope) fixed on the micro-electromechanical system (MEMS) MEMS of the person's foot is used to measure the movement of the human body. Integral deduction obtains personnel movement trajectories. This technology does not need to pre-install any equipment in the positioning site, and has the advantages of autonomy, low power consumption, and portability. It has become an impo...

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Application Information

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IPC IPC(8): G01C21/16G01R33/02
CPCG01C21/16G01R33/02
Inventor 方楚雄
Owner 湖南云箭格纳微信息科技有限公司
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