基于惯性和磁场信息的高精度行人室内定位方法
Ning Yu1, Xuanhe Chen1, Renjian Feng1
1School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China.
Sensors (Basel, Switzerland)
|May 14, 2025
概括
这项研究引入了一种使用惯性导航和磁场的新的行人室内定位系统. 该方法显著减少了累积错误,提高了轨迹准确性,以确保可靠的导航.
科学领域:
- 机器人和导航 机器人和导航
- 地质物理学和地测学
背景情况:
- 步行者室内定位要求长期,高精度的轨迹估计.
- 只有惯性测量单位 (IMU) 的方法存在累积错误,缺乏绝对定位参考.
- 由于累积的漂移,现有的方法与轨迹扭曲作斗争.
研究的目的:
- 开发一种增强的行人室内定位方法.
- 通过减轻累积错误来提高轨迹的准确性.
- 将惯性导航与环境磁场数据集成在一起.
主要方法:
- 使用扩展卡尔曼波器 (EKF) 算法进行数据融合.
- 嵌入了环境磁场信息作为外部观察.
- 结合惯性导航系统 (INS) 数据与磁场测量.
主要成果:
- 在起伏角度和行人姿势上显著抑制累积错误.
- 在297.08米的距离上,实现了从11.043°降低起伏角度误差到4.778°的降低.
- 位置误差从8.999米降至0.364米,相对平均误差从3.02%降至0.12%.
结论:
- 拟议的融合方法有效地提高了行人室内定位的准确性.
- 通过EKF将磁场数据与INS集成,可以克服IMU系统的局限性.
- 这种方法为高精度,长期的室内导航提供了强大的解决方案.
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