双足载惯性传感器的行人航位推算算法

2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2019-05-01 DOI:10.23919/ICINS.2019.8769341

I. A. Chistiakov, A. Nikulin, I. Gartseev

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引用次数: 3

摘要

本文提出了基于两个足部惯性测量单元(IMU)的闭环行人轨迹重建算法。第一种算法允许只使用一个IMU的测量值来计算轨迹。第二个算法使用data11本文中使用的数据可从http://gartseev.ru/projects/mkins2019下载。同时从两个脚上安装的imu。这两种算法都是基于卡尔曼滤波和假设，当一只脚在地面上时，它的速度应该是零。提出了两种比较得到的轨迹的方法，指出了每种方法的优缺点，并给出了优化计算时间的方法。此外，提出了一种基于每条腿的运动轨迹来构造一个广义人体运动轨迹的方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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PEDESTRIAN DEAD-RECKONING ALGORITHMS FOR DUAL FOOT-MOUNTED INERTIAL SENSORS

This work proposes algorithms for reconstruction of closed-loop pedestrian trajectories based on two foot-mounted inertial measurement units (IMU). The first proposed algorithm allows calculation of a trajectory using measurements from only one IMU. The second algorithm uses data11The data used in the article are available for downloading at http://gartseev.ru/projects/mkins2019. from both foot-mounted IMUs simultaneously. Both algorithms are based on the Kalman filter and the assumption that while a foot is on the ground its velocity is supposed to be zero. Two methods for comparing the obtained trajectories are proposed, advantages and disadvantages of each method are indicated and a way to optimize the computation time is presented. In addition, a method is proposed for constructing one generalized trajectory of human motion based on the trajectories of each leg.

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来源期刊

2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)

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