【摘要】：采用微機(jī)電系統(tǒng)(MEMS)慣性傳感器、MEMS磁傳感器及小型全球定位系統(tǒng)(GPS)接收機(jī)為室內(nèi)外行人導(dǎo)航數(shù)據(jù)源,基于Cortex-M4為內(nèi)核,搭建了室內(nèi)外行人導(dǎo)航系統(tǒng)硬件平臺。重點(diǎn)研究了多傳感器導(dǎo)航系統(tǒng)的結(jié)構(gòu)、多源信息融合方法、多條件零速檢測方法及零速修正等理論方法。并通過試驗(yàn),采集實(shí)測數(shù)據(jù)進(jìn)行分析、驗(yàn)證行人導(dǎo)航系統(tǒng)設(shè)計(jì)的性能。結(jié)果表明,在GPS信號良好情況下,定位誤差在2.5m以內(nèi);無GPS信號期間,路線長度為110m時(shí),定位誤差在總路經(jīng)的5%內(nèi)。
[Abstract]:The hardware platform of indoor and outdoor pedestrian navigation system is built based on micro-electro-mechanical system (MEMS) inertial sensor, MEMS magnetic sensor and small global positioning system (GPS) receiver for indoor and outdoor pedestrian navigation data source. Based on Cortex-M4, the hardware platform of indoor and outdoor pedestrian navigation system is built. The structure of multi-sensor navigation system, multi-source information fusion method, multi-condition zero-speed detection method and zero-speed correction method are studied in detail. The performance of the pedestrian navigation system is verified by the test, the measured data are collected and the performance of the pedestrian navigation system is verified. The results show that when the GPS signal is good, the positioning error is less than 2.5m, and when the route length is 110m, the positioning error is within 5% of the main route without GPS signal.
【作者單位】： 南昌大學(xué)信息工程學(xué)院;南昌大學(xué)空間科學(xué)與技術(shù)研究院;南昌大學(xué)信息工程學(xué)院測控教研室;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(41374039)
【分類號】：TN96
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本文編號：2436462