Research Of Pedestrian Inertial Navigation System Based On IMU

Location Based Service(LBS)is a service that provides users with navigation and other value-added services,such as satellite navigation,radio frequency positioning,etc.It can provide users with more accurate navigation and positioning services.However,in some special occasions,such as interiors,tunnels,underground spaces,etc.,satellite or radio frequency signals are difficult to cover,making personal navigation and positioning difficult to solve.Pedestrian navigation system based on inertial technology can use the inertial sensors carried by the users themselves to provide autonomous navigation and positioning services.It has the advantages of good autonomy and strong anti-interference ability,and has become a hot spot in current research.MEMS sensors have the advantages of small size,light weight,low power consumption,and are very suitable for pedestrian inertial navigation applications.This paper focuses on the requirements of personal navigation for indoor,tunnel and underground space,researches the acquisition,fusion and separation of inertial sensors,designs core algorithms such as zero speed detection,heading correction and navigation error correction,and develops a pedestrian-based inertial navigation system based on IMU.The main work of the thesis is as follows:(1)Researched the current status of pedestrian navigation technology at home and abroad.The characteristics,existing problems and development trends of various programs were compared and analyzed.The tasks and main research contents of this paper were proposed.(2)The core algorithms of zero-speed detection,heading correction,and navigation error correction for pedestrian inertial navigation are studied.The accuracy of the pose update algorithm is compared with the method of suppressing the error.The directional cosine matrix updating algorithm is used to calculate the heading angle,the distance is calculated based on the walking path algorithm,the zero-speed detection is used to suppress the distance error,and the heading correction algorithm is used to suppress the heading error.(3)Designed hardware circuit and system integration structure.Focused on the IMU sensor data acquisition and processing,data fusion and separation,to solve the multi-sensor data wireless transmission of key technologies.(4)Designed navigation system software.Focused on the rapid processing of navigation data and data visualization,real-time display of the track.(5)Build an experimental test platform to test the performance of the pedestrian inertial navigation system.The experimental results show that the navigation system has good accuracy in pedestrian walking distance.In terms of heading estimation,the heading correction algorithm can well suppress the accumulation of heading errors.And analyzed the system's existing accuracy,stability and other issues.