一种采用足部航姿参考和肩部航向参考的室内个人导航方法_徐元
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第 24 卷第 3 期 2016 年 6 月 文章编号： 1005-6734(2016)03-0325-05
中国惯性技术学报 Journal of Chinese Inertial Technology
Vol.24 No.3 Jun. 2016 doi: 10.13695/j.cnki.12-1222/o3.2016.03.009
Improved indoor pedestrian navigation method using low-cost foot-mounted AHRS and shoulder-mounted compass
XU Yuan1, CHEN Xi-yuan2,3, WANG Yi-min1, MA Si-yuan1
(AHRS). Meanwhile, some constraints are used to restrict the INS error drift by Kalman filter (KF) when the person is in a stance phase during walk. The remainder of the paper is organized as follows: Section 2 gives the drift reduction methods for foot-mounted AHRS. The tests and discussion are illustrated in Section 3. Finally, the conclusions are given.
收稿日期：2016-01-21；修回日期：2016-05-05 基金项目：国家自然科学基金资助项目（50975049，41204025，51375087） ；山东省自然科学基金项目（ZR2014FP010） ； 济南大学博士基金项目（XBS1503） 作者简介：徐元（1985—） ，男，讲师，博士，从事组合导航研究。E-mail: xy_abric@126.com 联 系 人：陈熙源（1969—） ，男，教授，博士生导师。E-mail: chxiyuan@seu.edu.cn
1
Drift reduction methods for foot-mounted AHRS In this section, an introduction to the drift reduction methods for foot-mounted AHRS will be discussed. The coordinate frames used in this work include the body frame (so called b-frame) and the navigation frame (so called n-frame). In this work, the earth's rotation is not considering since the indoor navigation area is very small.
一种采用足部航姿参考和肩部航向参考的室内个人导航方法
徐 元 1，陈熙源 2,3，王宜敏 1，马思源 1
（1. 济南大学 自动化与电气工程学院，济南 250022；2. 东南大学 仪器科学与工程学院，南京 210096； 3. 东南大学 微惯性仪表与先进导航技术教育部重点实验室，南京 210096） 摘要：为了解决传统足部航姿参考系统中航向信息可观性较差的问题，提出了一种采用足部航姿参考 系统和肩部电子罗盘的室内个人导航方法。在这种模式下，肩部电子罗盘测量得到的航向信息被直接 用于计算足部航姿参考系统的姿态转移矩阵。在此基础上，通过在行人在行走过程中足部处于静止状 态时采用卡尔曼滤波器被用来限制惯性导航系统的误差漂移。实验结果显示，本文提出的方法平均位 置误差与不使用肩部电子罗盘的方法相比降低了 30%左右。 关 键 词：室内行人导航；惯性导航系统；卡尔曼滤波；航向偏移；足部航姿参考系统 文献标志码：A System (INS)-based attempts have been proposed due to its low requirement of infrastructure support[2]. For example, J.-L. Zhang et al. proposed shoe-mounted personal navigation system using MEMS inertial technology[3], A. Ali et al. give the MEMS-based PN for GPS-denied areas in [4], step length estimation methods for PN are proposed by V. Renaudin et al. and S.H. Shin 中图分类号：TN967.3 Pedestrian Navigation (PN) which tracks the location of a person has received grate attention over the past few decades[1]. Although the Global Positioning Systems (GPS)-based PN has been widely used, it still has many challenges in GPS denied areas, especially in indoor environment. In order to provide the accurate location of persons indoors, many Inertial Navigation
- 326 [5-6]
中国惯性技术学报
源自文库
第 24 卷
et al. , J. Bird et al. employ foot-mounted strapdown inertial navigation for indoor navigation[7]. To the framework of PN, one of the most widely used methods is foot-mounted Inertial Measurement Unit (IMU)-based system proposed by E. Foxlin in [8], which employs Zero-velocity update (ZUPT) to reduce the drift error. However, it should be point out that though the foot-mounted IMU framework is able to achieve good performance even by the low cost IMU, it can not provide long-term available navigation information since the heading of the strategy is not observable. In order to overcome this problem, some researchers try to reduce the yaw drift by using magnetic sensors (such as in [2,7]) or some geographical features (such as in [9-10]). However, the foot-mounted magnetic sensors is poor in yaw calculation for PN due to its strong vibration during normal walking, and the shortcoming of the methods using geographical features is that we should know the features in advance. In order to achieve low cost indoor pedestrian navigation, an improving low cost indoor pedestrian navigation method is proposed in this work. This proposed method employs a shoulder-mounted compass to compute the yaw of the person directly, which is able to improve the accuracy of attitude transformation matrix for the foot-mounted attitude heading reference systems
(1. School of Electrical Engineering, University of Jinan, Jinan 250022, China; 2. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; 3. Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education, Nanjing 210096, China) Abstract: Aiming at the problem of poor observability of yaw measurement for foot-mounted attitude heading reference systems (AHRS), an indoor pedestrian navigation method by using low cost foot-mounted AHRS and shoulder-mounted compass is proposed. In this method, the yaw measured from the shoulder-mounted compass is directly used for the calculation of the attitude transformation matrix for the foot-mounted AHRS. And then, when the person is in a stance phase during walk, a Kalman filter (KF) is used to restrict the INS error drift. Experimental results show that the proposed method can effectively reduce the mean error of the position by about 30% compared with that without the shoulder-mounted compass. Key words: indoor pedestrian navigation; inertial navigation system; Kalman filter; yaw drift; foot-mounted attitude heading reference system
中国惯性技术学报 Journal of Chinese Inertial Technology
Vol.24 No.3 Jun. 2016 doi: 10.13695/j.cnki.12-1222/o3.2016.03.009
Improved indoor pedestrian navigation method using low-cost foot-mounted AHRS and shoulder-mounted compass
XU Yuan1, CHEN Xi-yuan2,3, WANG Yi-min1, MA Si-yuan1
(AHRS). Meanwhile, some constraints are used to restrict the INS error drift by Kalman filter (KF) when the person is in a stance phase during walk. The remainder of the paper is organized as follows: Section 2 gives the drift reduction methods for foot-mounted AHRS. The tests and discussion are illustrated in Section 3. Finally, the conclusions are given.
收稿日期：2016-01-21；修回日期：2016-05-05 基金项目：国家自然科学基金资助项目（50975049，41204025，51375087） ；山东省自然科学基金项目（ZR2014FP010） ； 济南大学博士基金项目（XBS1503） 作者简介：徐元（1985—） ，男，讲师，博士，从事组合导航研究。E-mail: xy_abric@126.com 联 系 人：陈熙源（1969—） ，男，教授，博士生导师。E-mail: chxiyuan@seu.edu.cn
1
Drift reduction methods for foot-mounted AHRS In this section, an introduction to the drift reduction methods for foot-mounted AHRS will be discussed. The coordinate frames used in this work include the body frame (so called b-frame) and the navigation frame (so called n-frame). In this work, the earth's rotation is not considering since the indoor navigation area is very small.
一种采用足部航姿参考和肩部航向参考的室内个人导航方法
徐 元 1，陈熙源 2,3，王宜敏 1，马思源 1
（1. 济南大学 自动化与电气工程学院，济南 250022；2. 东南大学 仪器科学与工程学院，南京 210096； 3. 东南大学 微惯性仪表与先进导航技术教育部重点实验室，南京 210096） 摘要：为了解决传统足部航姿参考系统中航向信息可观性较差的问题，提出了一种采用足部航姿参考 系统和肩部电子罗盘的室内个人导航方法。在这种模式下，肩部电子罗盘测量得到的航向信息被直接 用于计算足部航姿参考系统的姿态转移矩阵。在此基础上，通过在行人在行走过程中足部处于静止状 态时采用卡尔曼滤波器被用来限制惯性导航系统的误差漂移。实验结果显示，本文提出的方法平均位 置误差与不使用肩部电子罗盘的方法相比降低了 30%左右。 关 键 词：室内行人导航；惯性导航系统；卡尔曼滤波；航向偏移；足部航姿参考系统 文献标志码：A System (INS)-based attempts have been proposed due to its low requirement of infrastructure support[2]. For example, J.-L. Zhang et al. proposed shoe-mounted personal navigation system using MEMS inertial technology[3], A. Ali et al. give the MEMS-based PN for GPS-denied areas in [4], step length estimation methods for PN are proposed by V. Renaudin et al. and S.H. Shin 中图分类号：TN967.3 Pedestrian Navigation (PN) which tracks the location of a person has received grate attention over the past few decades[1]. Although the Global Positioning Systems (GPS)-based PN has been widely used, it still has many challenges in GPS denied areas, especially in indoor environment. In order to provide the accurate location of persons indoors, many Inertial Navigation
- 326 [5-6]
中国惯性技术学报
源自文库
第 24 卷
et al. , J. Bird et al. employ foot-mounted strapdown inertial navigation for indoor navigation[7]. To the framework of PN, one of the most widely used methods is foot-mounted Inertial Measurement Unit (IMU)-based system proposed by E. Foxlin in [8], which employs Zero-velocity update (ZUPT) to reduce the drift error. However, it should be point out that though the foot-mounted IMU framework is able to achieve good performance even by the low cost IMU, it can not provide long-term available navigation information since the heading of the strategy is not observable. In order to overcome this problem, some researchers try to reduce the yaw drift by using magnetic sensors (such as in [2,7]) or some geographical features (such as in [9-10]). However, the foot-mounted magnetic sensors is poor in yaw calculation for PN due to its strong vibration during normal walking, and the shortcoming of the methods using geographical features is that we should know the features in advance. In order to achieve low cost indoor pedestrian navigation, an improving low cost indoor pedestrian navigation method is proposed in this work. This proposed method employs a shoulder-mounted compass to compute the yaw of the person directly, which is able to improve the accuracy of attitude transformation matrix for the foot-mounted attitude heading reference systems
(1. School of Electrical Engineering, University of Jinan, Jinan 250022, China; 2. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China; 3. Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education, Nanjing 210096, China) Abstract: Aiming at the problem of poor observability of yaw measurement for foot-mounted attitude heading reference systems (AHRS), an indoor pedestrian navigation method by using low cost foot-mounted AHRS and shoulder-mounted compass is proposed. In this method, the yaw measured from the shoulder-mounted compass is directly used for the calculation of the attitude transformation matrix for the foot-mounted AHRS. And then, when the person is in a stance phase during walk, a Kalman filter (KF) is used to restrict the INS error drift. Experimental results show that the proposed method can effectively reduce the mean error of the position by about 30% compared with that without the shoulder-mounted compass. Key words: indoor pedestrian navigation; inertial navigation system; Kalman filter; yaw drift; foot-mounted attitude heading reference system