【摘要】：采用微機電系統(tǒng)(MEMS)慣性傳感器、MEMS磁傳感器及小型全球定位系統(tǒng)(GPS)接收機為室內外行人導航數(shù)據(jù)源,基于Cortex-M4為內核,搭建了室內外行人導航系統(tǒng)硬件平臺。重點研究了多傳感器導航系統(tǒng)的結構、多源信息融合方法、多條件零速檢測方法及零速修正等理論方法。并通過試驗,采集實測數(shù)據(jù)進行分析、驗證行人導航系統(tǒng)設計的性能。結果表明,在GPS信號良好情況下,定位誤差在2.5m以內;無GPS信號期間,路線長度為110m時,定位誤差在總路經的5%內。
[Abstract]:The hardware platform of indoor and outdoor pedestrian navigation system is built based on micro-electro-mechanical system (MEMS) inertial sensor, MEMS magnetic sensor and small global positioning system (GPS) receiver for indoor and outdoor pedestrian navigation data source. Based on Cortex-M4, the hardware platform of indoor and outdoor pedestrian navigation system is built. The structure of multi-sensor navigation system, multi-source information fusion method, multi-condition zero-speed detection method and zero-speed correction method are studied in detail. The performance of the pedestrian navigation system is verified by the test, the measured data are collected and the performance of the pedestrian navigation system is verified. The results show that when the GPS signal is good, the positioning error is less than 2.5m, and when the route length is 110m, the positioning error is within 5% of the main route without GPS signal.
【作者單位】： 南昌大學信息工程學院;南昌大學空間科學與技術研究院;南昌大學信息工程學院測控教研室;
【基金】：國家自然科學基金資助項目(41374039)
【分類號】：TN96
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本文編號：2436462