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为实现行人3维轨迹跟踪,采用惯性测量单元和电子罗盘组成的导航模块,固联于步行者鞋面上,根据行人步行运动的周期特性,结合四元数法和改进的航姿参考系统算法对步行姿态角尤其是航向角进行高精度估计.在分析速度误差产生原因的基础上,提出一种新的零速度校正技术,并利用行人垂直方向的步行速度判断步行状态,对高度进行补偿,实现了对行人3维轨迹的高精度跟踪.通过直线往返行走、矩形线路行走、上下楼梯等实验,验证了本文方法的有效性和可行性,实验中2维轨迹精度在0.5 m左右,3维轨迹精度在1 m左右.
In order to realize the 3-D trajectory tracking of pedestrians, a navigation module consisting of an inertial measurement unit and an electronic compass is fixedly connected to the upper of the pedestrian. According to the periodic characteristics of pedestrian walking movement, a quaternion method and an improved navigation attitude reference system This paper gives a high precision estimation of walking attitude angle, especially heading angle.On the basis of analyzing the causes of speed error, a new zero speed correction technology is proposed and the pedestrian vertical walking speed is used to judge the walking status and compensate the height, The high-accuracy tracking of the 3-D trajectory of pedestrians is achieved.Through the experiments of straight-line walking, rectangular line walking, stair-climbing and so on, the validity and feasibility of this method are verified. The accuracy of 2-D trajectory is about 0.5 m, Track accuracy of about 1 m.