Research On IMU Dynamic Zero Position Compensation For Foot Position Detection

Compared with traditional sensors,Micro Electro Mechanical Systems(MEMS)sensors have the advantages of miniaturization,low cost,and high performance,and are usually used to detect various attitude information in micro attitude systems.Inertial Measurement Units(IMUs)based on MEMS sensors usually measure the three-axis angular velocity and acceleration information of the target,which can be used in the medical wearable field to obtain various posture information of the pedestrian through the calculation,and then judge the health of the pedestrian status.After research,the zero offset error of MEMS sensor is an important factor that affects its navigation accuracy.The research in this paper is to compensate the zero position of the pedestrian in the state of motion,detect the zero-velocity moment of the foot sole of the pedestrian through multisource heterogeneous sensors,and design the zero-speed correction algorithm to compensate and optimize the various errors and parameters of the system to meet the requirements Nowadays,it still has a precise positioning function.The specific research content is as follows.First,the basic theory of innovative marketing comb and detail of the system,select the appropriate attitude Angle updating algorithm and multi-source heterogeneous sensors,initialized to the MEMS gyroscope and accelerometer calibration,and carries on the detailed analysis of pedestrian foot posture,design of zero velocity time threshold judgment method,and adopts zero velocity detection with or operating way.Secondly,an IMU zero-velocity correction algorithm is designed at the detected zerovelocity moment of each step,and the dynamic zero bit is compensated by Kalman algorithm.The step size and heading were obtained by double integration of acceleration information and quaternion algorithm,and the particle filter algorithm was used to optimize the step size and heading.Finally,the navigation attitude updating algorithm is used to calculate the pedestrian’s three-dimensional position information.Finally,the system hardware platform is built,and the MEMS sensor zero compensation experiment,pedestrian step size and heading experiment,and pedestrian positioning and navigation accuracy experiment are designed.Through a large number of simulation and human walking experiments,it is concluded that the detection rate of full foot landing time is above 95% on average;The mean and variance of compensated gyroscope zero bias are less than 0.01°/s.The average relative errors of step size in walking and running modes are 1.98% and 0.78%,and the relative errors of heading Angle decrease from 2.8% to 0.20%,both increasing by one order of magnitude.In the closed-loop route with a total length of about 2451.71 m and a cumulative height of about 101.67 m,the cumulative height error decreases by 3.8m and the ratio reduction is about 3.73%.The cumulative error of horizontal position was reduced by 20.90 m,and the ratio was reduced by about 0.85%.The 3D position error is reduced by 21.22 m,and the ratio of reduction is about 0.83%,and the high precision positioning time is about one hour.In line with the design requirements of this topic.