Research And Realization Of Key Technologies In PDR System Based On Consumer IMU

With the development of society and the change of people's lifestyle,location information plays a more and more important role in human's life and work.Navigation technology can accurately obtain the real-time location information of the user,and to provide users with accurate position,route navigation,disaster forecasting and emergency rescue services.These services are mainly dependent on the global navigation satellite system.But nowadays people spend most of time working and living in the indoor environment.As to the indoor environment,because of the serious satellite signal attenuation caused by the building block,making the positioning accuracy of GNSS becomes so worse that even can't able to offer positioning services.However,with the problem mentioned above,how to provide the location information in the indoor environment that GNSS is out of service is an urgent problem to be solved.At present,several indoor positioning technologies are in great research demands,including Wi-Fi positioning technology,radio frequency identification(RFID)positioning technology,Bluetooth positioning technology,ultra-wideband positioning technology and pedestrian dead reckoning(PDR)positioning technology.With the development of micro-electromechanical system(MEMS),inertial navigation and positioning technology based on PDR has rapidly become one of the most promising indoor positioning technologies,because that it doesn't need external infrastructures and without any field constraints.This article mainly focuses on the frameworks,key algorithms and practical application of our indoor positioning and navigation system based on PDR.Article is organized as follows:(1)Research on the Frameworks of PDR system.We firstly analyze the advantages of the traditional IEZ framework and its existing problems.Then we introduce the IEZ+ framework as the solution of the former problems and bring some algorithms(including zero velocity detection algorithm,angular velocity update algorithm,geomagnetic azimuth correction algorithm and so on)out to improve the performance of IEZ+ framework.(2)Research on Key Algorithms of PDR system.In this paper,we firstly aim at the maximum likelihood estimation method of zero velocity detection algorithm and prove the validity and reliability of this algorithm through experiment results. Secondly,according to the shortcomings of the ZARU algorithm,we propose an improved ZARU algorithm named “i-ZARU” and apply to our framework.Finally,we introduce the geomagnetic detection algorithm to estimate and correct travel direction.(3)Design and Build Indoor Positioning System based on PDR.According to the research and the actual demand.This paper has developed the Android platform based pedestrian real-time indoor location computing system and the Matlab platform based pedestrian real-time indoor positioning and navigation system.Finally,the feasibility and validity of the two platforms that we established were respectively verified in IPIN2016 and IPIN2017 international indoor positioning and navigation competitions.