Research On The Accuracy Optimization Of Personnel Inertial Positioning Based On Redundancy Microsensor

In recent years,people's demand for indoor location services is growing,as more and more indoor buildings carry people's work,life,leisure and other activities.Compared with other indoor positioning technologies,inertial navigation technology has been widely used for indoor positioning,because it has many advantages such as autonomy,hidden security and so on.However,due to the limitation of MEMS technology,the measurement accuracy and reliability of MEMS inertial sensors are relatively low,which directly affects the positioning accuracy and reliability of the inertial positioning system.The three problems of traditional inertial positioning system that it has no fault tolerance,low heading angle accuracy and poor reliability of barometer measuring height have been studied in this paper.The purpose of this topic is to improve the reliability and positioning accuracy of the positioning system through inertial sensor redundancy technology.The specific research contents are as follows:Firstly,in order to improve the reliability of the positioning system,this paper adopts the redundant configuration scheme of 6 gyroscopes and 6 accelerometers,so that the acceleration and angular velocity of the directions of the system x-axis,y-axis and z-axis can be simultaneously measured by three inertial sensors.The Mean Time Between Failure?MTBF?of the positioning system was increased by 1.85 times.Then,in order to solve the problem that the drift error caused by gyroscope sensitive acceleration shock and the system heading error accumulate with time,This paper optimizes the heading of the personnel positioning system from two aspects.Firstly,in order to optimize the angular velocity of the positioning system,the gyroscopes data is weighted and fused according to the magnitude of acceleration be sensitive by each gyroscope.Secondly,in order to reduce heading cumulative error,the heading angle calculated by the gyroscope will be corrected by the accelerometer/magnetometer based on the adaptive complementary filtering algorithm.The experiments show that compared with the traditional inertial positioning system,the heading optimization algorithm proposed in this paper effectively reduces the heading error of the system,and the positioning accuracy of the redundant positioning system improve by 1.57 times.Finally,aimed at the problem that barometer measured height have a poor reliability,indoor height positioning algorithm by redundant inertial sensor was proposed in this paper.The algorithm uses redundant accelerometer to recognize the attitude of pedestrians.And then assists the gyroscope to correct the height to reduce the accumulation errors of height.Finally,the system's high positioning accuracy and reliability are improved by fusing height.The experiment proves that the accuracy rate of the accelerometer to recognize pedestrians going upstairs,going downstairs and walk separately is 95.5%,96.4%,and 97.6%.The height positioning algorithm is not easily affected by temperature and wind speed,and the height positioning error is within half of h₀ h₀ is the floor height),and the floor positioning accuracy rate reaches 93.8%.