基于地磁輔助的室內(nèi)行人定位航向校正方法

馬明; 宋千; 李楊寰; 谷陽; 周智敏

doi:10.11999/JEIT160407

基于地磁輔助的室內(nèi)行人定位航向校正方法

doi: 10.11999/JEIT160407

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出版歷程
- 收稿日期: 2016-04-22
- 修回日期: 2016-11-23
- 刊出日期: 2017-03-19

Magnetic-aided Heading Error Calibration Approach for Indoor Pedestrian Positioning

摘要

摘要: 在基于慣性傳感器的室內(nèi)人員自主定位系統(tǒng)中，由于陀螺儀存在隨時(shí)間增長(zhǎng)的漂移，需要依靠地磁場(chǎng)對(duì)航向校正。然而，室內(nèi)場(chǎng)景中地磁場(chǎng)會(huì)受到比較嚴(yán)重的干擾，磁力計(jì)自身也存在一定誤差，嚴(yán)重影響了地磁場(chǎng)輔助定位的航向校正效果。該文提出一種地磁輔助的室內(nèi)定位航向校正方法，該方法首先結(jié)合人體運(yùn)動(dòng)模型對(duì)磁力計(jì)進(jìn)行校準(zhǔn)，獲取相關(guān)校準(zhǔn)系數(shù)，提高磁力計(jì)解算航向精度。在此基礎(chǔ)上利用改進(jìn)的磁場(chǎng)準(zhǔn)靜態(tài)檢測(cè)方法提取可用的磁力計(jì)觀測(cè)量，經(jīng)校準(zhǔn)系數(shù)校準(zhǔn)后結(jié)合零速更新算法(Zero velocity UPdaTe, ZUPT)輔助的擴(kuò)展卡爾曼濾波(Extended Kalman Filter, EKF)，對(duì)陀螺儀航向進(jìn)行濾波校正。實(shí)驗(yàn)結(jié)果顯示在長(zhǎng)約684 m的軌跡下航向誤差僅為3.2定位誤差小于0.5 m，定位精度優(yōu)于0.2%，驗(yàn)證了該方法較傳統(tǒng)的磁場(chǎng)輔助航向校正方法的優(yōu)越性。
- 室內(nèi)行人定位 /
- 磁場(chǎng)準(zhǔn)靜態(tài)檢測(cè) /
- 航向校正 /
- 磁力計(jì)校準(zhǔn)
Abstract: In inertial based self-contained pedestrian positioning systems, because the drifts of the gyroscopes grow with time, it relies on the earth magnetic field to suppress the heading errors. However, the earth magnetic field suffers from severe interference in indoor scenarios, and the magnetometer itself has measurement errors, the above reasons have dramatically limited the performance of the magnetometer-aided heading error calibration. This paper proposes a magnetic-aided heading error calibration approach. Firstly, the magnetometer is calibrated according to the motion model of the pedestrian and the calibration coefficients obtained are used to improve the accuracy of heading derived by the magnetometer. On this basis, a proved Quasi-Static magnetic Field (QSF) detection approach is proposed to extract the usable magnetic information fed into Zero velocity UPdaTe (ZUPT)- aided Extended Kalman Filter (EKF) algorithm to conduct the heading calibration. The experiment results show that the 684 meter long walk only has a position error of less than 0.5 meter and heading error of 3.2 degrees, and the position error is less than 0.2% of the total walking distance. The results indicate that the performance of the proposed method is superior to the existing approach.
- Indoor pedestrian positioning /
- Quasi-static magnetic field detector /
- Heading calibration /
- Magnetometer calibration

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參考文獻(xiàn)(16)

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