三维复杂运动模式航迹推算惯性导航室内定位

doi:10.3969/j.issn.0255-8297.2014.04.003

Abstract

Abstract: In human indoor navigation research, pedestrian dead reckoning (PDR) involves less calculation with lower accuracy sensor, and therefore becomes popular in micro-electro-mechanical system-inertial measurement unit (MEMS-IMU). However, conventional PDR approaches only consider 2D forward motion mode,which is unrealistic. This paper uses an approach named 3D complex motion mode PDR to describe human’s indoor life. By collecting the original human motion information with a 10-axis MEMS sensor, this paper proposes a 3D complex motion mode PDR algorithm. 2-axis detection of 2-peak within double zero-crossing and pitch detection methods are used to detect 5 kinds of non-walking motion mode to reduce interference of step detection. Phase reversal and pressure mutation methods are used to distinguish 3 kinds of walking motion mode to record every effective step. The 3D coordinates of the human location are then calculated. Experimental results show that, for the actual human indoor 3D and complex motion mode, the proposed algorithm increases the horizontal positioning accuracy by 99% compared with conventional peak detection and zero-crossing detection PDR. Accuracy of height positioning reaches 92.4%.

Key words: 3D, indoor navigation, pedestrian dead reckoning (PDR), micro-electro-mechanical system (MEMS)

CLC Number:

TP273

CHEN Xing-xiu1, ZHANG Jin-yi1,2,3, YAN Li1, LIU Jiang2, ZHOU Wen-qiang2. Inertial Indoor Navigation with 3D Complex Motion Mode of Pedestrian Dead Reckoning[J]. Journal of Applied Sciences, 2014, 32(4): 349-350.

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URL: https://www.jas.shu.edu.cn/EN/10.3969/j.issn.0255-8297.2014.04.003

https://www.jas.shu.edu.cn/EN/Y2014/V32/I4/349

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Inertial Indoor Navigation with 3D Complex Motion Mode of Pedestrian Dead Reckoning

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