本文關(guān)鍵詞： 小波分析 多特征分析法 多傳感器 濾波 室內(nèi)定位　出處：《中國地質(zhì)大學(xué)(北京)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：目前導(dǎo)航定位市場迅速發(fā)展,在室外有已經(jīng)成熟了的GNSS(Global Navigation Satellite System)提供位置服務(wù),但是在室內(nèi)無法直接接收衛(wèi)星的信號,這就給位置的無盲點服務(wù)造成了很大的問題。隨著現(xiàn)在智能手機內(nèi)置傳感器的快速發(fā)展,基于傳感器的位置服務(wù)已經(jīng)被證實在室內(nèi)定位方面也有很大的潛力。該技術(shù)只需要手機內(nèi)置的低精度傳感器就可以實現(xiàn),所以該技術(shù)具有低成本,精度高和應(yīng)用廣泛的前景。本文對基于手機傳感器進行室內(nèi)導(dǎo)航定位的技術(shù)進行深入研究,通過對目前室內(nèi)定位研究的現(xiàn)狀的說明,以及在傳感器定位技術(shù)在室內(nèi)導(dǎo)航定位方面可行性分析。本文做了如下幾方面的工作:一、利用Eclipse進行手機傳感器數(shù)據(jù)采集軟件的開發(fā),以及微電子機械系統(tǒng)(Micro-Electro-Mechanical System,MEMS)陀螺儀,MEMS加速度計在靜止?fàn)顟B(tài)下的數(shù)據(jù)分析,這其中包括平穩(wěn)性分析,隨機誤差分析。二、行進過程中手機傳感器在身體不同部位的數(shù)據(jù)特點分析,這三個位置分別是腳踝、手持腰前、隨臂搖擺,分析不同位置的數(shù)據(jù)特點,以及在導(dǎo)航定位中的應(yīng)用特點,綜合考慮采用了手持腰前的姿勢。三、傳感器數(shù)據(jù)預(yù)處理分析,分別通過IIR低通濾波、FIR低通濾波、傅里葉變換分析、小波變換對數(shù)據(jù)進行預(yù)處理,消除數(shù)據(jù)中的毛刺,使數(shù)據(jù)表現(xiàn)出來的波形光滑,為后面的步數(shù)計算做好準(zhǔn)備。通過實驗對比分析采用小波變化方法。四、行人步態(tài)分析以便更好的計算步數(shù),分別使用了幾種計步方法進行計步,并在以往的計步方法上面進行改進,提出多特征分析法,通過實驗對比幾種計步方法的準(zhǔn)確度,采用了多特征匹配法。五、在步長方法選取方面,比較了幾種成熟的步長計算方法,選取了其中的非線性步長計算方法。在航向角的選取上面,分別試驗了基于磁傳感器的電子羅盤方法和陀螺儀的姿態(tài)更新法,都沒取得好的效果,提出了基于陀螺儀垂直軸的航向計算方法,從計算結(jié)果來看取得了很好的效果。
[Abstract]:At present, the navigation and positioning market is developing rapidly, and there is a mature GNSS(Global Navigation Satellite system outside to provide location services, but it is impossible to receive satellite signals directly indoors. This poses a big problem for location-free blind spot services. With the rapid development of smart phones with built-in sensors, Location services based on sensors have proven to have great potential in indoor positioning. The technology requires only low-precision sensors built into mobile phones, so it has a low cost. In this paper, the technology of indoor navigation and positioning based on mobile phone sensor is deeply studied, and the present situation of indoor positioning research is explained. As well as the feasibility analysis of sensor positioning technology in indoor navigation and positioning. This paper has done the following work: first, using Eclipse to develop the mobile phone sensor data acquisition software, And the data analysis of MEMS accelerometer of Micro-Electro-Mechanical system MEMS (Micro-Electro-Mechanical system MEMS) gyroscope in static state, which includes stationary analysis, random error analysis, and data characteristics analysis of mobile phone sensor in different parts of body during travel. These three positions are ankle, front of the handheld waist, swing with the arm, analyze the data characteristics of different positions, as well as the application characteristics in the navigation and positioning, and consider the posture of the front of the handheld waist synthetically. Third, the sensor data preprocessing analysis, Through IIR low-pass filter, Fir low-pass filter, Fourier transform analysis, wavelet transform to pre-process the data, eliminate the burr in the data, make the waveform of the data smooth, Through the comparative analysis of the experiment, wavelet change method is used. Fourthly, the pedestrian gait analysis is used to calculate the step number better, and several kinds of pedometer methods are used to calculate the step. The method of multi-feature analysis is put forward in this paper. By comparing the accuracy of several methods, the method of multi-feature matching is adopted. 5, in the aspect of selecting step size method, the method of multi-feature matching is used. Several mature calculation methods of step size are compared, and the nonlinear step size calculation method is selected. The electronic compass method based on magnetic sensor and the attitude updating method of gyroscope are tested on the selection of heading angle. The course calculation method based on the vertical axis of gyroscope is put forward, and the result shows that it has a good effect.
【學(xué)位授予單位】：中國地質(zhì)大學(xué)(北京)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP212.9

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