用于个人导航的膝部和腰部陀螺仪:膝部、腰部和脚部惯性传感器的比较

Zexi Liu, Chang-Hee Won
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引用次数: 13

摘要

我们在膝盖、腰部和脚部位置使用惯性传感器进行个人导航。我们发现膝盖上的陀螺仪给出了最好的行进距离信息。所提出的膝关节系统利用了这样一个事实,即角位移在每个周期(行走的人的每一步)重复。利用这个周期,系统将使角位移误差保持有界。此外,腰间的陀螺仪可以提供最佳的航向信息。因此,我们提出了一种由膝盖和腰部的陀螺仪组成的个人导航系统。通过大量室内实验对系统性能进行了评估,实验结果表明,与其他配置相比,该配置提供了更好的位置信息。这个系统即使在人爬楼梯的时候也能很好地工作。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Knee and waist attached gyroscopes for personal navigation: Comparison of knee, waist and foot attached inertial sensors
We perform personal navigation using inertial sensors at knee, waist and foot positions. We found out that the knee attached gyroscope gives the best distance traveled information. The proposed system at the knee takes advantage of the fact that the angular displacements repeats at each period (each step of the walking person). Using this period, the system will keep the angular displacement errors bounded. Also, the waist attached gyroscope gives the best heading information. Consequently, we propose a personal navigation system that consists of gyroscopes at the knee and waist. The system performance was evaluated with a number of indoor experiments and the experimental results showed that this configuration provide better position information compared to other configurations. The system performs well even when the person is climbing stairs.
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