本文關(guān)鍵詞：基于慣性元件與磁羅盤信息融合的步行者定位系統(tǒng)　出處：《山東大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

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【摘要】：本論文為解決目前廣泛使用的基于衛(wèi)星的GPS定位系統(tǒng)中存在的易被遮擋的缺點(diǎn),研究一種新的定位系統(tǒng),該系統(tǒng)適用于對(duì)復(fù)雜遮擋環(huán)境下的步行者進(jìn)行導(dǎo)航,可廣泛應(yīng)用于衛(wèi)星信號(hào)被嚴(yán)重遮擋的室內(nèi)、偏僻室外等場(chǎng)景�；趹T性傳導(dǎo)的步行者定位系統(tǒng),具有不受環(huán)境約束、使用靈活等優(yōu)點(diǎn),在娛樂場(chǎng)所、應(yīng)急救災(zāi)等領(lǐng)域都有重要的應(yīng)用價(jià)值。本論文首先基于ARM Cortex-M3內(nèi)核的32位處理器,使用12C總線完成六軸姿態(tài)傳感器MPU6050以及磁感應(yīng)強(qiáng)度傳感器HMC5883數(shù)據(jù)采集,同時(shí)通過傳感器輸出信號(hào)的初始校正、低通濾波、六位置法標(biāo)定以及卡爾曼濾波等進(jìn)行傳感器信號(hào)預(yù)處理并完成實(shí)驗(yàn)平臺(tái)搭建�；谠搶�(shí)驗(yàn)平臺(tái),論文基于對(duì)現(xiàn)有的步行者步長(zhǎng)模型、姿態(tài)更新、航向估算方法以及位置推算算法的理論推導(dǎo)與實(shí)驗(yàn)驗(yàn)證,確定出適合本項(xiàng)目的應(yīng)用模型,并進(jìn)行大量的實(shí)驗(yàn)驗(yàn)證從而進(jìn)行參數(shù)修定。對(duì)于步行者運(yùn)動(dòng)航向的估算,本論文提出基于陀螺儀和電子羅盤的航向融合算法,實(shí)驗(yàn)結(jié)果表明該算法可以提高定位的精度與穩(wěn)定性。本論文目前搭建的實(shí)驗(yàn)平臺(tái)及算法只適用于二維空間內(nèi),暫時(shí)未考慮上樓下樓等運(yùn)動(dòng)。進(jìn)一步基于高度計(jì)研究完成三維空間導(dǎo)航及與GPS相結(jié)合以拓展項(xiàng)目的應(yīng)用場(chǎng)景是本論文未來的發(fā)展方向。
[Abstract]:This paper is based on the GPS satellite positioning system are solved in easily obscured the shortcomings of the current widely used, a new positioning system, this system is suitable for navigation of complex block walk environment, can be widely used in the satellite signal is severely occluded indoor and outdoor scene remote etc.. Pedestrian location system based on inertial transmission has many advantages, such as no environmental constraints and flexible use. It has important application value in entertainment, emergency and disaster relief. This paper based on the 32 bit ARM processor of Cortex-M3 kernel, using 12C bus to complete the six axis attitude sensor MPU6050 and magnetic induction sensor HMC5883 data acquisition, the initial output signal of the sensor calibration, low pass filter, six position calibration method and Calman filter for signal preprocessing and complete experimental platform. Based on the experimental platform, based on the existing pedestrian step model, attitude update, heading estimation method and position calculation of theoretical derivation and experimental verification algorithm, determine the appropriate application model of this project, and a large number of experiments were carried out to modify the parameters. For estimating the walking course of pedestrians, this paper proposes a heading fusion algorithm based on gyroscope and electronic compass. Experimental results show that the algorithm can improve positioning accuracy and stability. The experimental platform and algorithm built in this paper are only suitable for two dimensional space, and it does not consider the movement of upstairs and downstairs for the time being. Further research based on altimeter research to complete three-dimensional space navigation and to combine with GPS to expand the application scene of the project is the future development direction of this paper.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TN96

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

1 白渚銓;張曉明;劉俊;王宇;趙鑫爐;;基于加速度計(jì)的數(shù)字傾角儀誤差建模與分析[J];傳感技術(shù)學(xué)報(bào);2013年08期

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本文編號(hào)：1347254