【摘要】：近幾年,室內定位技術在眾多的領域都扮演著越來越重要的角色。與此同時,隨著微電機系統(tǒng)的大力發(fā)展,智能手機嵌入了各種慣性傳感器,如加速度計、陀螺儀和磁力計等。因此,基于智能手機的行人航跡推算(Pedestrian Dead Reckoning, PDR)技術逐漸成為室內定位領域的研究熱點。當前,該類技術的研究與應用主要面臨著一個挑戰(zhàn)：為了精確地實現PDR,行人身上手機的放置姿態(tài)和位置需要被施加諸多約束。然而,在現實中,手機的姿態(tài)和位置會發(fā)生任意地變化。因此,針對這一挑戰(zhàn),本文從以下三個方面進行了重點研究。首先,利用六階巴特沃斯濾波器對傳感器原始信號進行低通濾波處理,并通過多傳感器數據融合的卡爾曼濾波解算手機姿態(tài),進而構造旋轉矩陣實現不穩(wěn)定的手機坐標系到穩(wěn)定的大地坐標系的變換。其次,基于大地坐標系的垂直方向加速度,本文提出了峰值檢測和零穿越相結合的改進式非約束步數探測算法。所提出的算法能夠在行人行走過程中,手機位置發(fā)生變化的情況下精確地實現步數探測,正確率達到94.38%。最后,基于大地坐標系的水平方向角速度,本文提出了新穎的基于最小二乘法的非約束航向估計算法。所提出的算法能夠在設備航向連續(xù)變化的情況下穩(wěn)定地估算行人航向。在室內環(huán)境中,當手機位于搖擺手和前褲口袋時的航向平均絕對誤差分別為5.1°和7.1 °。綜上所述,本文提出的算法比現有的PDR算法更加健壯和有效,將對PDR在現實生活中的普及起到極大的推動作用。
[Abstract]:In recent years, indoor positioning technology plays a more and more important role in many fields. At the same time, with the development of micromotor system, smart phone embedded a variety of inertial sensors, such as accelerometers, gyroscopes and magnetometers. Therefore, (Pedestrian Dead Reckoning, PDR) technology based on smart phone is becoming a hotspot in indoor positioning field. At present, the research and application of this kind of technology is facing a challenge: in order to accurately realize the position and position of the PDR, pedestrian mobile phone, it is necessary to impose a lot of constraints. However, in reality, mobile phone posture and position will change arbitrarily. Therefore, in view of this challenge, this article has carried on the key research from the following three aspects. First of all, the sixth order Butterworth filter is used to process the original signal of the sensor, and the attitude of the mobile phone is calculated by the Kalman filter of multi-sensor data fusion. Then the rotation matrix is constructed to transform the mobile phone coordinate system into the stable geodetic coordinate system. Secondly, based on the vertical acceleration of geodetic coordinate system, an improved unconstrained step detection algorithm combining peak detection and zero crossing is proposed. The proposed algorithm can accurately detect the number of steps when the mobile phone position changes during walking, and the correct rate is 94.38. Finally, based on the horizontal angular velocity of geodetic coordinate system, a novel unconstrained heading estimation algorithm based on least square method is proposed in this paper. The proposed algorithm can estimate the pedestrian course stably under the condition of continuous variation of the equipment course. In indoor environment, the mean absolute course error of mobile phone is 5.1 擄and 7.1 擄respectively when the mobile phone is in the swinging hand and the front pants pocket. To sum up, the algorithm proposed in this paper is more robust and effective than the existing PDR algorithm, and will play a great role in promoting the popularization of PDR in real life.
【學位授予單位】：內蒙古大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TN929.53

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1 楊曉坤;面向非約束智能手機的PDR算法研究[D];內蒙古大學;2016年

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本文編號：2349395