基于地磁辅助的室内行人定位航向校正方法

马明; 宋千; 李杨寰; 谷阳; 周智敏

doi:10.11999/JEIT160407

基于地磁辅助的室内行人定位航向校正方法

doi: 10.11999/JEIT160407

计量
- 文章访问数: 1568
- HTML全文浏览量: 151
- PDF下载量: 507
- 被引次数: 0
出版历程
- 收稿日期: 2016-04-22
- 修回日期: 2016-11-23
- 刊出日期: 2017-03-19

Magnetic-aided Heading Error Calibration Approach for Indoor Pedestrian Positioning

摘要

摘要: 在基于惯性传感器的室内人员自主定位系统中，由于陀螺仪存在随时间增长的漂移，需要依靠地磁场对航向校正。然而，室内场景中地磁场会受到比较严重的干扰，磁力计自身也存在一定误差，严重影响了地磁场辅助定位的航向校正效果。该文提出一种地磁辅助的室内定位航向校正方法，该方法首先结合人体运动模型对磁力计进行校准，获取相关校准系数，提高磁力计解算航向精度。在此基础上利用改进的磁场准静态检测方法提取可用的磁力计观测量，经校准系数校准后结合零速更新算法(Zero velocity UPdaTe, ZUPT)辅助的扩展卡尔曼滤波(Extended Kalman Filter, EKF)，对陀螺仪航向进行滤波校正。实验结果显示在长约684 m的轨迹下航向误差仅为3.2定位误差小于0.5 m，定位精度优于0.2%，验证了该方法较传统的磁场辅助航向校正方法的优越性。
- 室内行人定位 /
- 磁场准静态检测 /
- 航向校正 /
- 磁力计校准
Abstract: In inertial based self-contained pedestrian positioning systems, because the drifts of the gyroscopes grow with time, it relies on the earth magnetic field to suppress the heading errors. However, the earth magnetic field suffers from severe interference in indoor scenarios, and the magnetometer itself has measurement errors, the above reasons have dramatically limited the performance of the magnetometer-aided heading error calibration. This paper proposes a magnetic-aided heading error calibration approach. Firstly, the magnetometer is calibrated according to the motion model of the pedestrian and the calibration coefficients obtained are used to improve the accuracy of heading derived by the magnetometer. On this basis, a proved Quasi-Static magnetic Field (QSF) detection approach is proposed to extract the usable magnetic information fed into Zero velocity UPdaTe (ZUPT)- aided Extended Kalman Filter (EKF) algorithm to conduct the heading calibration. The experiment results show that the 684 meter long walk only has a position error of less than 0.5 meter and heading error of 3.2 degrees, and the position error is less than 0.2% of the total walking distance. The results indicate that the performance of the proposed method is superior to the existing approach.
- Indoor pedestrian positioning /
- Quasi-static magnetic field detector /
- Heading calibration /
- Magnetometer calibration

HTML全文

参考文献(16)

LI Binghao, GALLAGHER T, DEMPSTER A, et al. How feasible is the use of magnetic field alone for indoor positioning[C]. 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN), Sydney, Australia, 2012: 1-9. doi: 10.1109/IPIN.2012.6418880.

HIDE C, BOTTERILL T, and ANDREOTTI M. Low cost vision-aided IMU for pedestrian navigation[J]. Global Positioning Systems, 2011, 10: 3-10. doi: 10.1109/UPINLBS. 2010.5653658.

SKOG I, NILSSON J, and HANDEL P. Pedestrian tracking using an IMU array[C]. International Conference on Electronics, Computing and Communication Technologies, Bangalore, India, 2014: 1-4. doi: 10.1109/CONECCT.2014. 6740346.

GU Yang, SONG Qian, LI Yanghuan, et al. Foot-mounted pedestrian navigation based on particle filter with an adaptive weight updating strategy[J]. The Journal of Navigation, 2015, 68(1): 23-38. doi: 10.1017/S037346 3314000496.

REN Mingrong, PAN Kai, LIU Yanhong, et al. A novel pedestrian navigation algorithm for a foot-mounted inertial- sensor-based system[J]. Sensors, 2016, 16(1): 139. doi: 10. 3390/s16010139.

RUPPELT J, KRONENWETTG N, and TROMMER F. A novel finite state machine based step detection technique for pedestrian navigation systems[C]. International Conference on Indoor Positioning and Indoor Navigation (IPIN), Alberta, Canada, 2015: 1-7. doi: 10.1109/IPIN.2015.7346771.

ANGERMANN M and ROBERTSON P. Foot-slam: Pedestrian simultaneous localization and mapping without exteroceptive sensors-hitchhiking on human perception and cognition[J]. Proceedings of the IEEE, 2012, 100: 1840-1848. doi: 10.1109/JPROC.2012. 2189785.

BASIRI A, PELTOLA P, FIGUEIRED P, et al. Indoor positioning technology assessment using analytic hierarchy process for pedestrian navigation services[C]. International Conference on Localization and GNSS, Gothenburg, Sweden, 2015: 1-6. doi: 10.1109/ICL-GNSS.2015.7217157.

GU Yang, MA Ming, LI Yanghuan, et al. Accurate height estimation based on a priori knowledge of buildings[C]. Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), Montbeliard, France, 2013: 28-31. doi: 10.1109/IPIN.2013.6817891.

FOXLIN E. Pedestrian tracking with shoe-mounted inertial sensors[J]. Computer Graphics and Applications, 2005, 30(5): 20-26. doi: 10.1109/MCG.2005.140.

NILSSON J, SKOG I, and HANDEL P. A note on the limitations of ZUPTs and the implications on sensor error modeling[C]. Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), Sydney, Australia, 2012: 20-22.

JIMENEZ A, SECO F, PRIETO J, et al. Indoor pedestrian navigation using an INS/EKF framework for yaw drift reduction and a foot-mounted IMU[C]. Workshop on Positioning Navigation and Communication, Dresden, Germany, 2010: 135-143. doi: 10.1109/WPNC.2010.5649300.

AFZAL M, RENAUDIN V, and LACHAPELLE G. Use of Earths magnetic field for mitigating gyroscope errors regardless of magnetic perturbation[J]. Sensors, 2011: 11(12): 11390-11414. doi: 10.3390/s111211390.

BUSATO A, PACES P, and POPELKA J. Magnetometer data fusion algorithms performance in indoor navigation: Comparison, calibration and testing[C]. IEEE Metrology for Aerospace, Benevento, Italy, 2014: 388-393. 10.1109/Metro AeroSpace.2014.6865955.

RENAUDIN V, AFZAL M, and LACHAPELLE G. New method for magnetometers based orientation estimation[C]. Position Location and Navigation Symposium, 2010: 348-356. doi: 10.1109/PLANS.2010.5507301.

FENG Wenguang, LIU Shibin, LIU Shiwei, et al. A calibration method of three-axis magnetic sensor based on ellipsoid fitting[J]. Journal of Information Computational Science, 2013, 10(6): 1551-1558. doi: 10.12733/jics20101833.

施引文献

资源附件(0)

访问统计