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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Research on an Improved Method for Foot-Mounted Inertial/Magnetometer Pedestrian-Positioning Based on the Adaptive Gradient Descent Algorithm
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Research on an Improved Method for Foot-Mounted Inertial/Magnetometer Pedestrian-Positioning Based on the Adaptive Gradient Descent Algorithm

机译：基于自适应梯度下降算法的脚装惯性/磁强计行人定位改进方法研究

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Foot-mounted Inertial Pedestrian-Positioning Systems (FIPPSs) based on Micro Inertial Measurement Units (MIMUs), have recently attracted widespread attention with the rapid development of MIMUs. The can be used in challenging environments such as firefighting and the military, even without augmenting with Global Navigation Satellite System (GNSS). Zero Velocity Update (ZUPT) provides a solution for the accumulated positioning errors produced by the low precision and high noise of the MIMU, however, there are some problems using ZUPT for FIPPS, include fast-initial alignment and unobserved heading misalignment angle, which are addressed in this paper. Our first contribution is proposing a fast-initial alignment algorithm for foot-mounted inertial/magnetometer pedestrian positioning based on the Adaptive Gradient Descent Algorithm (AGDA). Considering the characteristics of gravity and Earth’s magnetic field, measured by accelerometers and magnetometers, respectively, when the pedestrian is standing at one place, the AGDA is introduced as the fast-initial alignment. The AGDA is able to estimate the initial attitude and enhance the ability of magnetic disturbance suppression. Our second contribution in this paper is proposing an inertial/magnetometer positioning algorithm based on an adaptive Kalman filter to solve the problem of the unobserved heading misalignment angle. The algorithm utilizes heading misalignment angle as an observation for the Kalman filter and can improve the accuracy of pedestrian position by compensating for magnetic disturbances. In addition, introducing an adaptive parameter in the Kalman filter is able to compensate the varying magnetic disturbance for each ZUPT instant during the walking phase of the pedestrian. The performance of the proposed method is examined by conducting pedestrian test trajectory using MTi-G710 manufacture by XSENS. The experimental results verify the effectiveness and applicability of the proposed method.
机译：基于微型惯性测量单元（MIMU）的安装在脚上的惯性行人定位系统（FIPPS），随着MIMU的快速发展，最近引起了广泛的关注。即使在不增加全球导航卫星系统（GNSS）的情况下，它也可以用于具有挑战性的环境中，例如消防和军事环境。零速度更新（ZUPT）为MIMU的低精度和高噪声产生的累积定位误差提供了解决方案，但是，使用ZUPT进行FIPPS仍存在一些问题，包括快速初始对准和未观察到的航向未对准角度，这是本文讨论。我们的第一个贡献是提出了一种基于自适应梯度下降算法（AGDA）的脚上安装惯性/磁力计行人定位的快速初始对准算法。考虑到分别由加速度计和磁力计测量的重力和地球磁场的特征，当行人站在一个地方时，AGDA被引入作为快速初始对准。 AGDA能够估算初始姿态并增强抑制电磁干扰的能力。本文的第二个贡献是提出了一种基于自适应卡尔曼滤波器的惯性/磁力计定位算法，以解决航向未对准角未观测到的问题。该算法利用航向未对准角作为卡尔曼滤波器的观测值，并且可以通过补偿磁干扰来提高行人位置的准确性。另外，在卡尔曼滤波器中引入自适应参数能够补偿在行人的步行阶段中每个ZUPT瞬间变化的磁干扰。通过使用XSENS制造的MTi-G710进行行人测试轨迹来检验所提出方法的性能。实验结果验证了该方法的有效性和适用性。

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