Research On Personal Indoor Location System Based On MIMU

With the rapid increase of indoor positioning demand,location-based service requirements based on indoor location have gradually increased.The satellite navigation system is subject to signal problems and cannot be well applied in the field of indoor positioning.Inertial navigation system has become a hot research in the field of indoor location,due to its high autonomy and low cost.Based on inertial navigation theory,aiming at the needs of pedestrian positioning and personnel management,the thesis studies the personal indoor positioning system based on MIMU(Micro Inertial Measurement Unit).The thesis first introduces the fundamental theoretical knowledge of inertial navigation,including coordinate system rotation,the solution of the attitude matrix,the update of velocity and position.The comparison between pedestrian dead reckoning and zero-velocity update aided strapdown inertial navigation system is emphatically analyzed.The zero-velocity update algorithm is analyzed,this thesis proposes an improved algorithm of zero-velocity detection based on multiple constraints,for zero-velocity interval detection,based on the data of accelerometer and gyroscope,the multi-constraint design is carried out by logic operation.The test results show that it has favorable detection performance.For improving the accuracy of location,the thesis introduces the principle of Kalman filter in detail,and designs an extended Kalman filter based on zero-velocity update.Aiming at the drift problem of the calculated height,a solution of height location aided by barometer is proposed.The height estimation is carried out by using the principle of atmospheric pressure change,which can well correct the problem of height drift.The thesis proposes a multi-sensor data fusion localization algorithm,which uses accelerometers and gyroscopes to design strapdown inertial navigation algorithm,and based on barometer to carry out height-aided localization,the whole algorithm structure of the system is realized.Finally,the test results of plane walking,height direction and three-dimensional scene show that the algorithm can achieve high-precision indoor positioning.Afterwards,according to the hardware requirements of the system,an indoor positioning hardware platform is designed,through module selection and circuit design to finish hardware schematics,design of PCB,to accomplish the hardware production.Through the actual experiments,the hardware platform meets the design requirements and has practicability.Finally,this thesis develops a monitoring platform for indoor real-time positioning,which is based on Lab VIEW.Based on virtual instrument technology,combined with database development and positioning algorithm call,each module of the platform is designed using the modular design idea to complete the overall development of the platform.The static and dynamic experiments indicate that the monitoring platform is stable and reliable,and the indoor positioning system can realize effective and reliable indoor real-time positioning,meets the needs of indoor positioning.