PDR Research And Implementation Based On Consumer IMU In Navigation And Positioning Technology

With the rapid development of science and technology and the change of life style,it becomes more and more important to provide accurate location information in people's daily life.At present,positioning in the outdoor environment mainly relies on the Global Navigation Satellite System(GNSS).However,because of the building block will make the GNSS signal rapidly attenuated,making it impossible to accurately locate and navigate pedestrian indoors through GNSS.Therefore,how to complete the indoor positioning of personnel has become an urgent problem.At present,the indoor positioning technology mainly includes ultrasonic positioning technology,Ultra-Wide Band(UWB)positioning technology,WIFI positioning technology,Pedestrian Dead Reckoning(PDR)and so on.With the increasing cost-effective of Inertial Measurement Unit(IMU),PDR-based inertial positioning technology has become one of the most promising technologies for it does not rely on external facilities and completely autonomous.This paper mainly focuses on the key technologies and system implementation of indoor positioning based on PDR,including the following contents:(1)Speed identification method based on foot inertial sensing data.The speed of personnel movement is an important parameter in PDR technology.Based on the research of human motion velocity estimation,a method of human motion velocity recognition based on statistic characteristics of one-step inertial data is proposed in this paper.Experiments are designed to verify and analyze the method.(2)Adaptive zero velocity detection algorithm for PDR system based on speed identification proposed above.Based on the study of several common zero velocity detection algorithms and the fixed threshold problem in the Stance Hypothesis Optimal Detection(SHOE)algorithm,an adaptive stance hypothesis optimal detection algorithm(Adaptive-SHOE)based on speed recognition is proposed in this paper.The test performance is verified by experiments.(3)Research and implementation of inertial navigation system based on PDR.A PDR indoor positioning system based on classical inertial navigation framework and adaptive-SHOE algorithm is presented in this paper.The system is mainly based on the platform of MATLAB and Xsens sensor platform.It realizes the data acquisition,processing and simulation display of the whole system framework.And indoor environment experiments verify the positioning performance of the system.