【摘要】：隨著導航定位功能在智能移動終端中的普及和基于位置服務LBS (Location-Based Service)的蓬勃發(fā)展,人們對定位的精度和連續(xù)性提出了更高的要求�；谛l(wèi)星導航技術(shù)的行人定位方法趨于成熟,取得了良好的效果。然而,在城市環(huán)境中,由于人們使用定位服務的場景通常是室內(nèi),衛(wèi)星定位系統(tǒng)受到信號遮擋、干擾等因素的影響,定位的精度比較差甚至無法定位。為解決該問題,必須借助其它定位技術(shù)以獲得可靠穩(wěn)定的導航定位結(jié)果�；趹T性輔助的行人導航定位系統(tǒng),以其自主式導航、不需要額外設施的優(yōu)點,受到了工程與學術(shù)界的廣泛關(guān)注和集中研究。本課題圍繞衛(wèi)星信號微弱或缺失情況下的行人自主導航定位問題展開研究。為了滿足行人定位的實際需求,本文將從單人定位和多人定位兩個方面出發(fā)。重點研究基于微慣性器件的行人導航系統(tǒng),以實現(xiàn)單人精確定位。在此基礎上,通過結(jié)合協(xié)同導航技術(shù),實現(xiàn)多人導航定位的功能。論文首先對捷聯(lián)式慣性導航系統(tǒng)的工作原理進行了研究,以微慣性器件構(gòu)建了單人定位系統(tǒng)。為克服由于慣性器件長時間漂移所帶來的定位誤差,將零速修正技術(shù)應用于捷聯(lián)慣性導航系統(tǒng)。在行人步態(tài)分析的基礎上,研究了一種多條件辨識零速的零速檢測算法,并構(gòu)建了以速度誤差為觀測的卡爾曼濾波器。為了驗證該方法,設計了多組導航定位實驗,實驗結(jié)果表明基于卡爾曼濾波算法的零速修正技術(shù)能有效提高捷聯(lián)式慣性導航系統(tǒng)的定位精度。為了滿足特定環(huán)境下多人定位的需求,論文對基于協(xié)同導航機理的多人定位系統(tǒng)展開了研究。本文將基于RSSI的測距定位技術(shù)引入導航系統(tǒng),輔助慣性導航系統(tǒng)進行多人協(xié)同導航定位。為了提高定位精度,對基于測距定位的多人協(xié)同導航算法進行了研究。在完成多人協(xié)同導航定位的理論方法研究后,本文設計并實現(xiàn)了多人定位系統(tǒng)的原理樣機,在此基礎上進一步通過導航實驗評估了多人定位系統(tǒng)的精度等性能指標。實驗結(jié)果表明,本文設計的行人定位系統(tǒng)可以實現(xiàn)多人在復雜環(huán)境下的協(xié)同導航定位功能,具有一定的工程應用價值。
[Abstract]:With the popularity of navigation and positioning in intelligent mobile terminals and the vigorous development of location-based service LBS (Location-Based Service), people put forward higher requirements for accuracy and continuity of positioning. The pedestrian positioning method based on satellite navigation technology tends to mature and has achieved good results. However, in urban environment, because people usually use the scene of location service is indoor, satellite positioning system is affected by signal occlusion, interference and other factors, the positioning accuracy is poor or even unable to locate. In order to solve this problem, other positioning techniques must be used to obtain reliable and stable navigation and positioning results. The pedestrian navigation and positioning system based on inertial assistance, with its advantages of autonomous navigation and no additional facilities, has received extensive attention and concentrated research in engineering and academic circles. This paper focuses on the problem of pedestrian autonomous navigation and positioning in the condition of weak or missing satellite signal. In order to meet the practical needs of pedestrian positioning, this paper will start from two aspects: single location and multi-person positioning. The pedestrian navigation system based on micro inertial devices is mainly studied in order to realize the precise positioning of single person. On this basis, the function of multi-person navigation and positioning is realized by combining the cooperative navigation technology. In this paper, the working principle of strapdown inertial navigation system is studied, and the single position system is constructed with micro inertial device. In order to overcome the positioning error caused by the long time drift of inertial devices, the zero-velocity correction technique is applied to the Yu Jie integrated inertial navigation system. On the basis of pedestrian gait analysis, a zero-velocity detection algorithm based on multi-condition identification of zero velocity is studied, and a Kalman filter based on velocity error is constructed. In order to verify the method, a multi-group navigation experiment is designed. The experimental results show that the zero-velocity correction based on Kalman filter algorithm can effectively improve the positioning accuracy of strapdown inertial navigation system. In order to meet the needs of multi-person localization in a specific environment, this paper studies the multi-person positioning system based on cooperative navigation mechanism. In this paper, the ranging and positioning technology based on RSSI is introduced into the navigation system to assist the inertial navigation system to carry out multi-person cooperative navigation and positioning. In order to improve the positioning accuracy, the multi-person cooperative navigation algorithm based on ranging and location is studied. After the research on the theory and method of multi-person cooperative navigation and positioning, the principle prototype of multi-person positioning system is designed and implemented in this paper. On the basis of this, the precision of multi-person positioning system is further evaluated by navigation experiment. The experimental results show that the pedestrian positioning system designed in this paper can realize the cooperative navigation and positioning function of many people in complex environment, and it has certain engineering application value.
【學位授予單位】：南京師范大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TN96

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