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基于伪自适应阈值零速检测法的室内个人导航系统

Keywords: 个人导航,零速检测,步态,室内地图,粒子滤波

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Abstract:

为了限制惯导误差的增长,根据人行走的规律提出了一种基于个人的多种步态模式下的伪自适应阈值零速检测法.通过加速度方差和陀螺模值的平方和作为检测依据,设置一个滑动的时间窗口来判断行人的运动模式,以此来自调节阈值的大小,对跑、走、台阶等运动模式都具有稳定可靠的检测效果.由于航向角不可观测,无法使用卡尔曼零速修正算法对航向角进行修正.采用融合室内地图的粒子滤波算法使穿越墙壁的粒子权重为零,对于大误差数据,通过自适应重采样的方法来有效避免粒子的严重退化现象.实验结果表明:速度在3m/s内零速检测的准确率达到97%以上.采用融合室内地图的粒子滤波算法后,正常行走约210m的距离室内定位误差从原来的2.3m降低到0.2m.

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