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首页> 外文期刊>Wireless Communications, IEEE >Indoor navigation with foot-mounted strapdown inertial navigation and magnetic sensors [Emerging Opportunities for Localization and Tracking]
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Indoor navigation with foot-mounted strapdown inertial navigation and magnetic sensors [Emerging Opportunities for Localization and Tracking]

机译：带脚踏捷联惯性导航和磁传感器的室内导航[定位和跟踪的新兴机会]

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This article describes a method of navigation for an individual based on traditional inertial navigation system (INS) technology, but with very small and self-contained sensor systems. A conventional INS contains quite accurate, but large and heavy, gyroscopes and accelerometers, and converts the sensed rotations and accelerations into position displacements through an algorithm known as a strapdown navigator. They also, almost without exception, use an error compensation scheme such as a Kalman filter to reduce the error growth in the inertially sensed motion through the use of additional position and velocity data from GPS receivers, other velocity sensors (e.g., air, water, and ground speed), and heading aids such as a magnetic compass. This technology has been successfully used for decades, yet the size, weight, and power requirements of sufficiently accurate inertial systems and velocity sensors have prevented their adoption for personal navigation systems. Now, however, as described in this article, miniature inertial measurement units (IMUs) as light as a few grams are available. When placed on the foot to exploit the brief periods of zero velocity when the foot strikes the ground (obviating the need for additional velocity measurement sensors), these IMUs allow the realization of a conventional Kalman-filter-based aided strapdown inertial navigation system in a device no larger or heavier than a box of matches. A particular advantage of this approach is that no stride modeling is involved with its inherent reliance on the estimation of a forward distance traveled on every step ????????? the technique works equally well for any foot motion, something especially critical for soldiers and first responders. Also described is a technique to exploit magnetic sensor orientation data even in indoor environments where local disturbances in the Earth?????????s magnetic field are significant. By carefully comparing INSderived and magnetically derived heading and orient-n-nation, a system can automatically determine when sensed magnetic heading is accurate enough to be useful for additional error compensation.
机译：本文介绍了一种基于传统惯性导航系统（INS）技术的个人导航方法，但具有非常小巧的独立系统。常规的INS包含相当精确但又大又重的陀螺仪和加速度计，并通过称为捷联导航仪的算法将感测到的旋转和加速度转换为位置位移。他们几乎也毫无例外地使用误差补偿方案，例如卡尔曼滤波器，通过使用来自GPS接收器，其他速度传感器（例如，空气，水，和地面速度）以及航向辅助工具（例如电磁罗盘）。这项技术已经成功使用了数十年，但是足够精确的惯性系统和速度传感器的尺寸，重量和功率要求已使其无法用于个人导航系统。但是，现在，如本文所述，可以使用轻至几克的微型惯性测量单位（IMU）。当放置在脚上以利用脚撞击地面时短暂的零速度周期时（无需使用额外的速度测量传感器），这些IMU可以实现传统的基于卡尔曼滤波器的辅助捷联惯性导航系统。不超过一盒火柴的设备。这种方法的一个特殊优点是，没有步幅建模与它固有地依赖于估计每一步所经过的前进距离有关。该技术对于任何脚部动作都同样有效，这对于士兵和急救人员而言尤其重要。还描述了一种即使在其中地球磁场的局部干扰很大的室内环境中也能利用磁传感器取向数据的技术。通过仔细比较INS派生的和磁派生的航向和方向，系统可以自动确定何时感测到的磁航向足够准确，可用于额外的误差补偿。

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