EWHT-AIB:基于阵列IMU和气压计的增强腰装人体跟踪框架

IF 5.9 2区 工程技术 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Feifan Lin;Qingzhong Cai;Yue Yu;Huizheng Yuan
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引用次数: 0

摘要

随着物联网(IoT)和人工智能(AI)的发展,室内定位服务已经成为公众日常生活中不可或缺的一部分。消费级微机电系统(MEMS)惯性测量单元(IMU)性能低下、气压计缺乏有效标定以及对复杂人体运动模式的适应性差,制约了室内三维定位的性能。针对上述挑战,本文提出了一种基于阵列IMU和气压计的增强型腰挂人体跟踪框架(EWHT-AIB),该框架结合阵列IMU数据融合、精确气压计校准和运动约束的位置姿态更新算法,实现鲁棒准确的室内定位。为了提高阵列IMU数据融合性能,提出了一种基于偏置不稳定系数的阵列IMU加权数据融合算法,实现了阵列IMU数据的有效加权融合。随后,提出了一种基于非线性拟合的气压计标定算法,实现了气压计偏差误差和尺度因子误差的精确补偿。最后,设计了一种运动约束下的位置-姿态更新算法,利用补偿阵列IMU和气压计数据实现行人室内三维精确定位。综合实验表明,在典型的室内环境下,所提出的EWHT-AIB框架可以达到米级的定位精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
EWHT-AIB: Enhanced Waist-Mounted Human Tracking Framework Based on Array IMU and Barometer
With the development of the Internet of Things (IoT) and artificial intelligence (AI), indoor location-based services have become an indispensable part of public daily life. The performance of 3-D indoor positioning is constrained by the low performance of consumer-grade micro-electromechanical systems (MEMS) inertial measurement unit (IMU), the lack of effective calibration for the barometer, and the poor adaptability to complex human motion modes. To address the above challenges, this article proposes an enhanced waist-mounted human tracking framework based on array IMU and barometer (EWHT-AIB) that combines array IMU data fusion, precise barometer calibration, and a motion-constrained position-attitude update algorithm to achieve robust and accurate indoor positioning. To enhance array IMU data fusion performance, a weighted data fusion algorithm for array IMU based on the bias instability coefficients is proposed to achieve effective weighted fusion of array IMU data. Subsequently, a barometer calibration algorithm based on nonlinear fitting is proposed to achieve accurate compensation for bias error and scale factor error of the barometer. Finally, a position-attitude update algorithm under motion constraints is designed to achieve accurate pedestrian 3-D indoor positioning using compensated array IMU and barometer data. Comprehensive experiments demonstrate that the proposed EWHT-AIB framework can achieve meter level positioning accuracy under typical indoor environments.
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来源期刊
IEEE Transactions on Instrumentation and Measurement
IEEE Transactions on Instrumentation and Measurement 工程技术-工程:电子与电气
CiteScore
9.00
自引率
23.20%
发文量
1294
审稿时长
3.9 months
期刊介绍: Papers are sought that address innovative solutions to the development and use of electrical and electronic instruments and equipment to measure, monitor and/or record physical phenomena for the purpose of advancing measurement science, methods, functionality and applications. The scope of these papers may encompass: (1) theory, methodology, and practice of measurement; (2) design, development and evaluation of instrumentation and measurement systems and components used in generating, acquiring, conditioning and processing signals; (3) analysis, representation, display, and preservation of the information obtained from a set of measurements; and (4) scientific and technical support to establishment and maintenance of technical standards in the field of Instrumentation and Measurement.
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