Inertia/zero-speed/GPS based pedestrian seamless combined navigation positioning method

Abstract

The invention discloses an inertia / zero--speed / GPS based pedestrian seamless combined navigation positioning method. An output characteristic of an inertia sensor in a pedestrian running gait is analyzed, strapdown resolution is carried out, and a zero-speed detection model based on the pedestrian running gait is established to improve the stability and reliability of zero speed detection under the pedestrian running gait; and a BP neural network based GPS available signal screening method is provided to reject GPS interference signals with large errors effectively and improve the reliabilityand accuracy of GPS information. On the technical basis, a Kalman filter based on variable measurement is researched to fuse inertia, zero speed information and GPS information effectively, and the navigation positioning precision in the pedestrian running state is improved substantially; and the problem of speed position divergence under pure inertial resolution can be solved effectively, and theseamless combined navigation positioning precision and reliability under the pedestrian running state are improved.

Description

technical field [0001] The invention relates to a pedestrian seamless combined navigation and positioning method based on inertia / zero speed / GPS, which belongs to the technical field of personal mobile positioning. Background technique [0002] With the progress of society, there has been an upsurge of studying pedestrian navigation and positioning technology at home and abroad. At present, relatively mature pedestrian navigation and positioning service systems mainly rely on GPS. For large shopping malls, underground garages, fire rescue and other application scenarios, GPS often cannot work normally, which will bring inconvenience to daily life, cause great difficulties to rescue missions, and even lead to huge property losses and casualties. [0003] Aiming at the susceptibility of GPS signal to interference, the autonomous inertial positioning and navigation system based on Micro Electro Mechanical System (MEMS) emerged and developed rapidly. Among them, the first rela...

AI Technical Summary

Problems solved by technology

Among them, Eric Foxlin first proposed a pedestrian navigation and positioning system with inertial sensing devices placed on the feet. The zero-speed update algorithm is used to set the speed to zero and perform zero-speed correction, which can suppress the inertial system error, but it does not meet the requirements of high-precision positioning. And the cost is high, which is not conducive to popularization and application

The Harbin Engineering University team proposed a foot-based IMU / GPS integrated navigation system that is only suitable for slow walking, and the experiment was carried out on an open playground. Although the positioning accuracy is good, the application limitations are relatively large

At the same time, in recent years, experts and scholars at home and abroad have mainly conducted relevant research on pedestrian navigation and positioning methods and zero-speed detection methods under normal walking gait of pedestrians. In the background of applications such as rescue, the human body mostly adopts a running gait; in addition, in order to solve the problems of low precision at the transition point between indoor and outdoor, and the inability to switch smoothly and automatically, the seamless integrated navigation and positioning technology for pedestrians running indoors and outdoors needs to be studied urgently

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