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首页> 外文会议>Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561 >Non-GPS Navigation with the Personal Dead-Reckoning System
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Non-GPS Navigation with the Personal Dead-Reckoning System

机译：带有个人死海追踪系统的非GPS导航

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This paper introduces a positioning system for walking persons, called "Personal Dead-reckoning" (PDR) system. The PDR system does not require GPS, beacons, or landmarks. The system is therefore useful in GPS-denied environments, such as inside buildings, tunnels, or dense forests. Potential users of the system are military and security personnel as well as emergency responders. The PDR system uses a small 6-DOF inertial measurement unit (IMU) attached to the user's boot. The IMU provides rate-of-rotation and acceleration measurements that are used in real-time to estimate the location of the user relative to a known starting point. In order to reduce the most significant errors of this IMU-based system—caused by the bias drift of the accelerometers—we implemented a technique known as "Zero Velocity Update" (ZUPT). With the ZUPT technique and related signal processing algorithms, typical errors of our system are about 2% of distance traveled. This typical PDR system error is largely independent of the gait or speed of the user. When walking continuously for several minutes, the error increases gradually beyond 2%. The PDR system works in both 2-dimensional (2-D) and 3-D environments, although errors in Z-direction are usually larger than 2% of distance traveled. Earlier versions of our system used an impractically large IMU. In the most recent version we implemented a much smaller IMU. This paper discussed specific problems of this small IMU, our measures for eliminating these problems, and our first experimental results with the small IMU under different conditions.
机译：本文介绍了一种用于步行者的定位系统，称为“ Personal Dead-reckoning”（PDR）系统。 PDR系统不需要GPS，信标或地标。因此，该系统适用于GPS受限的环境，例如建筑物内，隧道内或茂密的森林中。该系统的潜在用户是军事和安全人员以及应急人员。 PDR系统使用附加在用户行李箱上的小型6自由度惯性测量单元（IMU）。 IMU提供转速和加速度测量值，这些测量值可实时用于估计用户相对于已知起点的位置。为了减少该基于IMU的系统的最显着误差（由加速度计的偏置漂移引起），我们实施了一种称为“零速度更新”（ZUPT）的技术。使用ZUPT技术和相关的信号处理算法，我们系统的典型误差约为行进距离的2％。典型的PDR系统错误在很大程度上与用户的步态或速度无关。连续行走几分钟后，误差逐渐增加到2％以上。尽管Z方向的误差通常大于行进距离的2％，但PDR系统可在二维（2-D）和3-D环境中工作。我们系统的早期版本使用了不切实际的大型IMU。在最新版本中，我们实现了更小的IMU。本文讨论了这种小型IMU的具体问题，解决这些问题的措施以及在不同条件下使用小型IMU的第一个实验结果。

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