CN108180923B - Inertial navigation positioning method based on human body odometer - Google Patents

Inertial navigation positioning method based on human body odometer Download PDF

Info

Publication number
CN108180923B
CN108180923B CN201711291646.XA CN201711291646A CN108180923B CN 108180923 B CN108180923 B CN 108180923B CN 201711291646 A CN201711291646 A CN 201711291646A CN 108180923 B CN108180923 B CN 108180923B
Authority
CN
China
Prior art keywords
inertial navigation
human body
navigation system
odometer
human
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201711291646.XA
Other languages
Chinese (zh)
Other versions
CN108180923A (en
Inventor
王鹏宇
邓志红
付梦印
曹运
尚克军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN201711291646.XA priority Critical patent/CN108180923B/en
Publication of CN108180923A publication Critical patent/CN108180923A/en
Application granted granted Critical
Publication of CN108180923B publication Critical patent/CN108180923B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/006—Pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)

Abstract

The invention provides an inertial navigation positioning method based on a human body odometer, which can realize accurate navigation under the full-motion state of a pedestrian. The invention selects the human body odometer to assist the inertial navigation system, wherein the human body odometer refers to a method that the vehicle-mounted odometer for land uses the travel represented by each pulse as a scale factor, the step length of a single step is used as the scale factor, the scale factor comprises a correction factor, and the obtained scale factor is more accurate, so that the accurate travel track of the human body is obtained. Meanwhile, the correction factor is added to the state vector of the inertial navigation system, so that the characteristic of high short-time positioning accuracy of the inertial navigation system can be fully utilized according to the arbitrariness and uncertainty of human motion, and the inertial navigation system is assisted to complete accurate navigation of indoor pedestrians in a full-motion state.

Description

Inertial navigation positioning method based on human body odometer
Technical Field
The invention belongs to the technical field of pedestrian navigation, and particularly relates to an inertial navigation positioning method based on a human body odometer.
Background
The proposal and development of the smart city put forward higher requirements on positioning and navigation of indoor personnel, and a Pedestrian Dead Reckoning (PDR) system based on an inertial sensor has sufficient autonomy and flexibility and is more and more emphasized by people. At present, the research aiming at the PDR system is mainly based on the zero velocity correction (ZUPT) principle, the inertial navigation system is corrected by searching a zero velocity point in the walking process of a person, and the method of fusing building characteristic information, the walking experience step length information and the like with the inertial navigation system is researched to assist the inertial navigation system to complete the navigation of indoor pedestrians in a full motion state.
However, the ZUPT method needs to accurately judge and identify the zero-speed point, so that the method is only suitable for simple gaits such as walking on level ground, going up and down stairs and the like; the building features are complex and different, and the human advancing step length is influenced by the surrounding environment, emotion and the like, so that the inertial navigation positioning accuracy for fusing the information and the inertial navigation system is not ideal and not high.
Disclosure of Invention
In view of this, the invention provides an inertial navigation positioning method based on a human body odometer, which can realize accurate navigation in a full-motion state of a pedestrian.
The invention is realized by the following technical scheme:
the method comprises the following steps:
step 1, acquiring step frequency, acceleration and angular velocity information of human motion, and performing inertial navigation resolving on the acquired acceleration and angular velocity information of the human motion to obtain inertial navigation resolving displacement increment;
step 2, multiplying the scale factor by the step frequency of the human motion acquired in the step 1 to obtain the output displacement increment of the human body odometer;
wherein the scale factor S is:
S＝(1+K)[h·(a·fstep+b)+c]
wherein [ h (a · f)step+b)+c]For reference step length, fstepH is the height of the person, a, b and c are reference step length coefficients related to the gait, which are known quantities; k is a correction factor used for correcting the reference step error;
step 3, adding the correction factor into a state vector of the inertial navigation system, and establishing a state equation of the inertial navigation system by using an inertial navigation principle;
taking the difference between the inertial navigation calculation displacement increment obtained in the step 1 and the human body odometer output displacement increment obtained in the step 2 as an observed quantity, and establishing an observation equation of an inertial navigation system;
step 4, based on the state equation and the observation equation established in the step 3, obtaining a state vector estimation value of the inertial navigation system by using a Kalman filtering method;
and 5, correcting scale factors of the human body odometer and zero offset of the inertial navigation system by using the state vector estimation value obtained by filtering in the step 4, and completing positioning of the pedestrian in the full motion state.
Wherein, an observation equation of the inertial navigation system is established by using a displacement integral matching method.
Acquiring step frequency, acceleration and angular velocity information of human motion by using a gyroscope and an accelerometer; the state vector of the inertial navigation system is:
Figure BDA0001499505530000021
wherein psiNIs the attitude error; vNIs the speed error; zetaNIs the longitude and latitude error; h is an elevation error; constant zero offset for three axial gyros;
Figure BDA0001499505530000031
the accelerometer is constant with zero offset for three axes.
Wherein, the observation equation of the inertial navigation system is as follows: z (k) ═ Δ RINS(tk)-ΔSN(tk) Wherein Z (k) is the observed differential, Δ RINS(tk) Resolving a displacement incremental differential, Δ S, for an inertial navigation systemN(tk) And outputting the displacement increment differential for the human body odometer.
Wherein, the micro inertial sensor is used for collecting the acceleration and angular velocity information of the human body under different movement gaits.
Wherein, the micro inertial sensor is configured on the foot, the waist or the tibia of the human body.
Has the advantages that:
the invention selects the human body odometer to assist the inertial navigation system, wherein the human body odometer refers to a method that the vehicle-mounted odometer for land uses the travel represented by each pulse as a scale factor, the step length of a single step is used as the scale factor, the scale factor comprises a correction factor, and the obtained scale factor is more accurate, so that the accurate travel track of the human body is obtained. Meanwhile, the correction factor is added to the state vector of the inertial navigation system, so that the characteristic of high short-time positioning accuracy of the inertial navigation system can be fully utilized according to the arbitrariness and uncertainty of human motion, and the inertial navigation system is assisted to complete accurate navigation of indoor pedestrians in a full-motion state.
Drawings
FIG. 1 is a flow chart of an inertial navigation positioning method based on a human body odometer.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
In order to realize accurate navigation of indoor pedestrians in a full-motion state, new external auxiliary source information needs to be found according to the arbitrariness and uncertainty of human motion, the characteristic of high short-time positioning accuracy of an inertial navigation system is fully utilized, and the inertial navigation system is assisted to finish accurate navigation of indoor pedestrians in the full-motion state.
The invention selects the human body odometer to assist the inertial navigation system, wherein the human body odometer refers to a method that the vehicle-mounted odometer for land uses the travel represented by each pulse as a scale factor, the step length of a single step is used as the scale factor, the scale factor comprises a correction factor, and the obtained scale factor is more accurate, so that the accurate travel track of the human body is obtained. Meanwhile, the correction factor is added to the state vector of the inertial navigation system, the characteristic of high short-time positioning precision of the inertial navigation system can be fully utilized according to the arbitrariness and uncertainty of human motion, the Kalman filtering method is utilized, and two or more subsystems are fused by utilizing an effective information fusion method, so that accurate navigation of the pedestrian in a full-motion state is realized.
The invention provides an inertial navigation positioning method based on a human body odometer, which can complete high-precision positioning of indoor pedestrians in a full-motion state.
The flow chart of the inertial navigation positioning method of the human body odometer is shown in fig. 1, and the method comprises the following steps:
step 1, acquiring step frequency, acceleration and angular velocity information of human motion, and performing inertial navigation resolving on the acquired acceleration and angular velocity information of the human motion to obtain inertial navigation resolving displacement increment;
the micro inertial sensor is used for acquiring the acceleration and angular velocity information of a human body under different movement gaits, and a gyroscope and an accelerometer are commonly used in the micro inertial sensor at present. The micro inertial sensor is arranged on the foot, the waist or the tibia of the human body.
Wherein, in the k-th sampling period, Δ T ═ Tk-tk-1And the inertial navigation system solves the displacement increment as follows:
Figure BDA0001499505530000041
wherein, VNSpeed calculated for the inertial navigation system, k 1,2,30For sampling the initial time, t1At the end of the first sampling period, t2At the end of the second sampling period, and so on, tkAt the end of the kth sampling period.
Step 2, multiplying the scale factor by the acquired step frequency of the human motion to obtain the output displacement increment of the human body odometer;
wherein the scale factor S is:
S＝(1+K)[h·(a·fstep+b)+c]
wherein f isstepIs the step frequency; h is the height of the person; k is a correction factor; a. b and c are reference step coefficients in different states, [ h (a · f)step+b)+c]Is a reference step size. The reference step length is obtained through an early-stage gait division result, and the reference step lengths in different states are different; the correction factor is used for correcting the reference step error, represents the step change caused by the randomness and randomness of the human motion, and is obtained through online identification and self-adaptive estimation.
The scale factor is the single step length of the human body odometer, the collected step frequency of the human body movement is used as the output pulse number of the human body odometer, and the output displacement increment of the human body odometer can be calculated by multiplying the output pulse number and the scale factor.
The human body odometer outputs displacement increment as follows:
Figure BDA0001499505530000051
wherein the content of the first and second substances,
Figure BDA0001499505530000052
a transformation matrix from a human body odometer coordinate system to a navigation coordinate system is obtained by resolving for an inertial navigation system; delta SVMSNamely the single step length S obtained by the human body odometer.
In addition, the human body movement is not necessarily in a certain specific dimension, if the human body movement is divided into two dimensions of a front-back direction and a left-right direction, each dimension is regarded as a separate human body odometer, and at the moment, the human body odometer is a two-dimensional human body odometer, as shown in fig. 1;
step 3, establishing a state equation and an observation equation of the inertial navigation system:
adding the correction factor obtained in the step (2) into a state vector of inertial navigation, and establishing a state equation of an inertial navigation system by using an inertial navigation principle;
the inertial navigation system model is a known model, and correction factors for the human body odometer include:
Figure BDA0001499505530000053
in this embodiment, on the basis of establishing the inertial navigation system and the human body odometer model, the correction factor is added to the state vector to obtain a state vector as follows:
Figure BDA0001499505530000061
wherein psiNIs the attitude error; vNIs the speed error; zetaNIs the longitude and latitude error; h is an elevation error; constant zero offset for three axial gyros;
Figure BDA0001499505530000062
the accelerometer is constant with zero offset for three axes.
The state equation of the inertial navigation system is obtained as follows:
Figure BDA0001499505530000063
wherein, F (t)k) The representation system transfer matrix is obtained by an inertial navigation system and a dynamic error model of the human body odometer; w (t)k) Is the system noise.
Taking the difference between the inertial navigation calculation displacement increment obtained in the step 1 and the human body odometer output displacement increment obtained in the step 2 as an observed quantity, and establishing an observation equation of an inertial navigation system by using a displacement integral matching method;
wherein the observed quantity is Z (k):
Z(k)＝ΔRINS(tk)-ΔSN(tk)
differentiating two sides of the equation Z (k) to obtain an observation equation of the inertial navigation system, wherein the observation equation is as follows:
Z(k)＝ΔRINS(tk)-ΔSN(tk)
in the embodiment, a displacement integral matching method is selected to establish the observation equation, the displacement integral matching method is utilized to establish the observation equation of the inertial navigation system, and compared with the traditional odometer-assisted navigation method taking speed as observed quantity, the method avoids quantization error caused by calculating the speed of the human body odometer, effectively reduces the measurement noise level and improves the performance of the navigation system.
The observation equation is further arranged to obtain:
Figure BDA0001499505530000064
from this, an observation matrix H (k) is obtained:
Figure BDA0001499505530000065
step 4, based on the state equation and the observation equation of the inertial navigation system established in the step 3, fusing the information of the human body odometer and the inertial navigation system by using the basic equation of Kalman filtering, realizing the mutual correction and the optimal fusion between the human body odometer and the inertial navigation system, and obtaining a state vector estimation value;
and 5, correcting scale factors of the human body odometer and zero offset of the inertial navigation system by using the state vector estimation value obtained by filtering, and completing positioning of the pedestrian in the full motion state.
When the step frequency, the acceleration and the angular velocity information of the human motion are acquired by the gyroscope and the accelerometer in the step 1, the zero offset of the inertial navigation system in the step 5 refers to the zero offset of the gyroscope and the accelerometer.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. An inertial navigation positioning method based on a human body odometer is characterized by comprising the following steps:
step 1, acquiring step frequency, acceleration and angular velocity information of human motion, and performing inertial navigation resolving on the acquired acceleration and angular velocity information of the human motion to obtain inertial navigation resolving displacement increment;
step 2, multiplying the scale factor by the step frequency of the human motion acquired in the step 1 to obtain the output displacement increment of the human body odometer;
wherein the scale factor S is:
S＝(1+K)[h·(a·fstep+b)+c]
wherein [ h (a · f)step+b)+c]For reference step length, fstepThe step frequency is h, the height of a person is h, a, b and c are reference step length coefficients under different states, the reference step length is obtained through an early-stage gait division result, and the reference step lengths under different states are different; k is a correction factor used for correcting the reference step error;
step 3, adding the correction factor into a state vector of the inertial navigation system, and establishing a state equation of the inertial navigation system by using an inertial navigation principle;
taking the difference between the inertial navigation calculation displacement increment obtained in the step 1 and the human body odometer output displacement increment obtained in the step 2 as an observed quantity, and establishing an observation equation of an inertial navigation system;
step 4, based on the state equation and the observation equation established in the step 3, obtaining a state vector estimation value of the inertial navigation system by using a Kalman filtering method;
and 5, correcting scale factors of the human body odometer and zero offset of the inertial navigation system by using the state vector estimation value obtained by filtering in the step 4, and completing positioning of the pedestrian in the full motion state.
2. The inertial navigation positioning method based on the human body odometer as claimed in claim 1, wherein an observation equation of the inertial navigation system is established by using a displacement integral matching method.
3. The inertial navigation positioning method based on the human body odometer according to claim 1, characterized in that a gyroscope and an accelerometer are used for acquiring the step frequency, acceleration and angular velocity information of the human body movement; the state vector of the inertial navigation system is:
Figure FDA0002571428210000021
wherein psiNIs the attitude error; vNIs the speed error; zetaNIs the longitude and latitude error; h is an elevation error; constant zero offset for three axial gyros;
Figure FDA0002571428210000022
the accelerometer is constant with zero offset for three axes.
4. The human odometer-based inertia as set forth in claim 1The navigation positioning method is characterized in that an observation equation of the inertial navigation system is as follows: z (k) ═ Δ RINS(tk)-ΔSN(tk) Wherein Z (k) is the observed differential, Δ RINS(tk) Resolving a displacement incremental differential, Δ S, for an inertial navigation systemN(tk) And outputting the displacement increment differential for the human body odometer.
5. The inertial navigation positioning method based on the human body odometer according to claim 1, characterized in that the micro inertial sensor is used to collect the acceleration and angular velocity information of the human body under different movement gaits.
6. The inertial navigation positioning method based on human odometer according to claim 5, characterized in that said micro inertial sensor is arranged on human foot, waist or tibia.
CN201711291646.XA 2017-12-08 2017-12-08 Inertial navigation positioning method based on human body odometer Active CN108180923B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711291646.XA CN108180923B (en) 2017-12-08 2017-12-08 Inertial navigation positioning method based on human body odometer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711291646.XA CN108180923B (en) 2017-12-08 2017-12-08 Inertial navigation positioning method based on human body odometer

Publications (2)

Publication Number Publication Date
CN108180923A CN108180923A (en) 2018-06-19
CN108180923B true CN108180923B (en) 2020-10-20

Family

ID=62545704

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711291646.XA Active CN108180923B (en) 2017-12-08 2017-12-08 Inertial navigation positioning method based on human body odometer

Country Status (1)

Country Link
CN (1) CN108180923B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109297486B (en) * 2018-09-30 2020-11-13 重庆自行者科技有限公司 Inertia and multi-odometer information-assisted vehicle motion state determination method and system
CN109769206B (en) * 2019-02-25 2021-02-02 广州市香港科大***研究院 Indoor positioning fusion method and device, storage medium and terminal equipment
CN111157984B (en) * 2020-01-08 2021-10-22 电子科技大学 Pedestrian autonomous navigation method based on millimeter wave radar and inertial measurement unit
CN111380516B (en) * 2020-02-27 2022-04-08 上海交通大学 Inertial navigation/odometer vehicle combined navigation method and system based on odometer measurement information
CN111307148B (en) * 2020-04-03 2021-09-03 北京航空航天大学 Pedestrian positioning method based on inertial network
CN111811500A (en) * 2020-05-06 2020-10-23 北京嘀嘀无限科技发展有限公司 Target object pose estimation method and device, storage medium and electronic equipment

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103983273A (en) * 2014-04-29 2014-08-13 华南理工大学 Real-time step length estimation method based on acceleration sensor
CN104819716A (en) * 2015-04-21 2015-08-05 北京工业大学 Indoor and outdoor personal navigation algorithm based on INS/GPS (inertial navigation system/global position system) integration of MEMS (micro-electromechanical system)
CN105628027A (en) * 2016-02-19 2016-06-01 中国矿业大学 Indoor environment precise real-time positioning method based on MEMS inertial device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10837794B2 (en) * 2014-12-12 2020-11-17 Invensense, Inc. Method and system for characterization of on foot motion with multiple sensor assemblies

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103983273A (en) * 2014-04-29 2014-08-13 华南理工大学 Real-time step length estimation method based on acceleration sensor
CN104819716A (en) * 2015-04-21 2015-08-05 北京工业大学 Indoor and outdoor personal navigation algorithm based on INS/GPS (inertial navigation system/global position system) integration of MEMS (micro-electromechanical system)
CN105628027A (en) * 2016-02-19 2016-06-01 中国矿业大学 Indoor environment precise real-time positioning method based on MEMS inertial device

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Comparison of step length and heading estimation methods for indoor environments;Juan Bravo;《IEEE》;20171023;第1-4页 *
MEMS传感器的计步算法研究;楼喜中等;《中国计量大学学报》;20170315;第28卷(第01期);第81-86页 *

Also Published As

Publication number Publication date
CN108180923A (en) 2018-06-19

Similar Documents

Publication Publication Date Title
CN108180923B (en) Inertial navigation positioning method based on human body odometer
US10352959B2 (en) Method and system for estimating a path of a mobile element or body
CN107588769B (en) Vehicle-mounted strapdown inertial navigation, odometer and altimeter integrated navigation method
CN102538781B (en) Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method
CN100587641C (en) A kind of attitude determination system that is applicable to the arbitrary motion mini system
CN105318876A (en) Inertia and mileometer combination high-precision attitude measurement method
CN105698822B (en) Initial Alignment Method between autonomous type inertial navigation based on reversed Attitude Tracking is advanced
CN107144284A (en) Inertial navigation combination navigation method is aided in based on the vehicle dynamic model that CKF is filtered
CN104713554A (en) Indoor positioning method based on MEMS insert device and android smart mobile phone fusion
CN112697138B (en) Bionic polarization synchronous positioning and composition method based on factor graph optimization
CN106767797B (en) inertial/GPS combined navigation method based on dual quaternion
CN107490378B (en) Indoor positioning and navigation method based on MPU6050 and smart phone
CN113295158B (en) Indoor positioning method integrating inertial data, map information and pedestrian motion state
CN109959374B (en) Full-time and full-range reverse smooth filtering method for pedestrian inertial navigation
CN104697526A (en) Strapdown inertial navitation system and control method for agricultural machines
CN109646009B (en) Gait space-time parameter calculation method based on portable gait analysis system
CN104181573A (en) Beidou inertial navigation deep integration navigation microsystem
CN109459028A (en) A kind of adaptive step estimation method based on gradient decline
CN105806343A (en) Indoor 3D positioning system and method based on inertial sensor
CN103438890A (en) Planetary power descending branch navigation method based on TDS (total descending sensor) and image measurement
CN109741372A (en) A kind of odometer method for estimating based on binocular vision
Rhudy et al. Wide-field optical flow aided inertial navigation for unmanned aerial vehicles
CN109708647A (en) A kind of indoor topological map pedestrian localization method based on fusion feature element
CN108106630B (en) Two-dimensional human body odometer for pedestrian navigation and mileage calculation method
Min et al. Design of complementary filter using least square method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant