传感器的位置和方向对行人惯性导航的定位算法选择和定位结果有重要的影响。针对传感器位置和轴向不固定引起的步伐探测失真，引入重力轴拟合和盲源分离算法，提取出行走过程中反应脊柱运动的脊柱波。实验表明，在四种常见姿态下，以脊柱波代替单轴向加速度波进行步伐探测，可将错误率稳定在5%以下。%In pedestrian inertial navigation, a sensor’s position and direction have significant influence on the location algorithm’s selection and location results. In view of the pace detection distortion caused by the unfixed position and direction of the sensor, a blind source separation algorithm was investigated to extract the walking acceleration for gait detection. Firstly, the acceleration from triaxial accelerometer was processed by gravity axis fitting. Secondly, the spine wave, which reflects the acceleration of spine, was extracted by blind source separation. Experiment results show that the error rate under 5%and stronger suitability can be obtained by treating spine wave as input source of pedometer.
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