Research On Pedestrian Collaborative Navigation And Fault Detection Methods Based On Micro-inertial Technology

Pedestrian navigation plays an important role in the field of navigation and positioning.In recent years,the method of pedestrian navigation based on satellite positioning technology has matured and achieved good results.Because the signals of satellite navigation systems are susceptible to interference and shielding,the positioning accuracy in some areas of cities,jungles,mining areas and indoor environments is significantly reduced,and even they do not work properly.In order to solve this problem,other navigation methods must be used to obtain stable and reliable positioning information.Due to the strong autonomy and wide range of application,the pedestrian navigation systems based on micro-inertial technology are widely concerned and studied by scholars at home and abroad.In this dissertation,the method of pedestrian cooperative navigation is studied by using the micro-inertial sensor as the main source of information.On this basis,combined with the fault detection method,the reliability of the pedestrian cooperative navigation system is improved.This dissertation studies the working principle of strap-down inertial navigation system and discusses pedestrian navigation methods.Combined with the gait phase analysis of pedestrian,a zero-velocity detection method with zero-velocity multi-conditions identification is studied,and a Kalman filter based on velocity error is established.On this basis,a pedestrian cooperative navigation method based on weight distribution is studied.Through experimental verification,the zero-velocity updating technology based on Kalman filter can effectively realize the navigation and positioning function,and the pedestrian cooperative navigation algorithm can effectively improve the positioning accuracy.In order to meet the needs of positioning requirements in a complex electromagnetic environment,this dissertation studies a cooperative navigation method based on bidirectional information fusion.Based on the different characteristics of the error between the pedestrian navigation system and the mobile robot navigation system,the information bidirectional fusion filter is constructed to synchronously modify the both errors.The effectiveness of the cooperative navigation method between pedestrian and mobile robot is verified through experiments.In order to improve the reliability of multi-pedestrians coordinated navigation status of the downlink positioning system,this dissertation studies a fault detection method based on wavelet modulus maxima for micro-inertial sensors.This method uses the relationship between the maximum value of the wavelet modulus of the output signal of the gyroscope and the singularity point of the fault,and establishes a threshold to realize fault detection.Finally,combined with fault detection and cooperative navigation methods,a multi-pedestrians experiment is designed to evaluate the positioning accuracy of the cooperative navigation system.The experimental results show that the cooperative navigation method based on fault detection in this dissertation can improve the reliability of pedestrian cooperative navigation system,and has certain value of engineering application.