航向(导航)
惯性测量装置
加速度计
惯性导航系统
卡尔曼滤波器
计算机科学
航位推算
行人
陀螺仪
风三角
模拟
计算机视觉
人工智能
工程类
全球定位系统
惯性参考系
电信
航空航天工程
机器人控制
操作系统
物理
机器人
移动机器人
量子力学
运输工程
作者
Khairi Abdulrahim,Chris Hide,Terry Moore,Chris Hill
标识
DOI:10.1109/upinlbs.2010.5653986
摘要
Heading drift error remains a problem in a standalone navigation system that uses only low cost MEMS IMU due to yaw error unobservability. This paper therefore proposes a shoe mounted IMU approach, integrated with ZUPT and building heading information in Kalman filter environment to reduce heading drift for pedestrian navigation application. There were no additional sensors used except MEMS IMU that contains accelerometers and gyros. Two trials; represented by regular and irregular walking trials, were undertaken in a typical public building. The results were then compared with HSGPS solution and IMU+ZUPT solution. Based on these trials, return position error of 0.1% from total distance travelled was achieved using a low cost MEMS IMU only.
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