The cumulative error of the heading is the main factor that affects the navigation precision in the pedestrian positioning system by using the inertial technology. Based on the analysis of typical architectural structure and pedestrian walking characteristics, an indoor pedestrian navigation heading feedback correction algorithm is proposed. The heading feedback conditions under two go-straight situations are distinguished according to whether the pedestrians go straight in the dominant direction. The heading difference is built as the state vector of the adaptive unscented Kalman filter (AUKF), and the feedback heading value is used to participate in the quaternion solution to reduce the accumulation of heading errors. The experiments based on the platform of the embedded fire soldier position system show that, by the proposed heading feedback correc-tion algorithm, the time of accurate solution is increased by two times compared with that by the non-feed-back correction algorithm, the navigation error is less than 1％, and the environment adaptability is stronger.%航向角误差随时间累积是采用惯性技术实现行人定位系统中影响导航精度的主要因素.通过典型建筑结构和行人行走特征的分析,提出一种室内行人导航航向反馈修正算法.根据行人是否在主方向上直行,区分在两种直行情况下的航向反馈条件,构建航向差值作为状态量进行自适应无迹卡尔曼滤波(AUKF),并运用反馈航向值参与四元数解算,从而减少航向误差的累积.嵌入式消防单兵定位系统平台的实验验证表明:提出的航向反馈修正算法与不反馈时相比,能够精确解算航向的时间增加两倍以上,且导航误差在1％以内,适应环境能力也较强.
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