基于低成本惯性传感器阵列的行人导航系统的错误补偿方法
Lijia Cao1,2,3, Xiao Luo1, Lei Liu1
1School of Automation & Information Engineering, Sichuan University of Science & Engineering, Zigong 643000, China.
Sensors (Basel, Switzerland)
|April 13, 2024
概括
本研究介绍了使用惯性测量单元 (IMU) 阵列的行人导航系统的改进错误补偿方法. 新方法通过校准单个IMU和在静止期间纠正位置数据,显著提高了导航准确性.
科学领域:
- 导航系统 导航系统
- 传感器融合式传感器
- 惯性测量单位 惯性测量单位
背景情况:
- 步行者导航系统经常使用惯性测量单元 (IMU) 阵列来减少错误.
- 目前的融合方法忽视了个体IMU错误补偿和零速度间隔校正,限制了准确性.
- 现有的技术未能有效地减少错误并提高导航精度.
研究的目的:
- 为使用低成本IMU阵列的行人导航系统提出一个增强的错误补偿方法.
- 为了改进多个IMU的校准,并在零速度间隔期间正确的位置信息.
- 为了显著减少测量错误并提高导航性能.
主要方法:
- 一种改进的校准方法,使用滑动偏差探测器将数据分成静止和运动间隔,用于独立的IMU校准.
- 在零速度更新 (ZUPT) 后的零速度区间内对速度残留进行补偿的应用.
- 来自多个低成本IMU阵列的测量结果的融合.
主要成果:
- 校准IMU阵列的静态噪声性能增加了3.01倍.
- 单个校准的IMU与未校准的IMU相比,平均水平位置误差减少了27.52%.
- 与单个校准的IMU相比,校准IMU阵列的平均水平位置误差减少了2.98倍.
- 在剩余速度补偿后,单个IMU的平均水平位置误差进一步减少0.73m,IMU阵列的平均水平位置误差减少64.52%.
结论:
- 拟议的错误补偿方法显著提高了IMU阵列在行人导航中的噪声性能和准确性.
- 独立的IMU校准和ZUPT校正对于提高导航系统性能至关重要.
- 该方法在现有技术上提供了显著的改进,特别是在减少水平位置错误方面.
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