...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE Transactions on Instrumentation and Measurement >A Robust Pedestrian Dead Reckoning System Using Low-Cost Magnetic and Inertial Sensors
【24h】

A Robust Pedestrian Dead Reckoning System Using Low-Cost Magnetic and Inertial Sensors

机译：使用低成本磁和惯性传感器的鲁棒行人航位推测系统

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Pedestrian dead reckoning (PDR) using inertial and magnetic measurement unit (IMMU) is a current research hotspot that can be used to provide location-based services. The main challenges of the self-contained sensor-based PDR method are mainly sensor errors and orientation estimation errors. In this paper, a novel orientation estimation algorithm and gait phase detection algorithm with strong adaptability are proposed. The variance and magnitude of the angular rate are adopted to detect the gait. The experimental results show that the gait phase detection method can accurately distinguish the swing phase and the stance phase of the foot even under running conditions. By reasonable assumptions, the attitude angles calculated in the swing phase can be calibrated while the attitude angles are in the stance phase. The calibration of velocity not only uses the zero velocity updates method but also makes reasonable assumptions about the bias error of the accelerometer, so that the velocity calculated during the whole swing phase can be calibrated. Experimental results demonstrate that the proposed self-contained IMMU is capable of providing consistent beacon-free PDR in different scenarios, achieving less than 1.2% average distance error and average end-to-end position error.
机译：使用惯性和磁测量单元（IMMU）的行人航位推算（PDR）是当前的研究热点，可用于提供基于位置的服务。自包含的基于传感器的PDR方法的主要挑战主要是传感器误差和方向估计误差。提出了一种适应性强的方向估计算法和步态相位检测算法。采用角速率的方差和大小来检测步态。实验结果表明，步态相位检测方法即使在跑步条件下也能准确地区分脚的摆动相位和姿态相位。通过合理的假设，可以在姿态角处于站姿阶段时校准在挥杆阶段计算出的姿态角。速度校准不仅使用零速度更新方法，而且对加速度计的偏差进行合理假设，以便可以校准整个摆动阶段计算出的速度。实验结果表明，所提出的独立式IMMU能够在不同情况下提供一致的无信标PDR，平均距离误差和平均端到端位置误差均小于1.2％。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号