Research And Application On Navigation Algorithm Of Pedestrian Navigation System

Following the development of navigation technology, the notion of navigation is much more familiar to people. And it is used in many cases such as airplanes, vehicle cars and so on. The Pedestrian Navigation System (PNS), a new application of navigation, is attracting increasing number of researchers'attention. In this paper, the theme is personal location without blind areas. Main research is the theory and application of GPS/DR integrated navigation in the PNS. And, the TDOA/DR integrated navigation system in indoor environment is involved.Firstly, the difficulty of utilizing DR in PNS is solved. According to analyzing the influence of walking behaviors on DR sensors, an azimuth modify algorithm using angle rate output from gyroscope and a step counting through detecting the features of vertical accelerometeric are presented. Both of them are tested effectively.Secondly, the reliable and precise of GPS, which is widely used in PNS but not performed well in urban, are discussed. Detecting and eliminating outliers algorithm based on HDOP and velocity is present. That makes the GPS locating more reliable and precise for GPS/DR integrated navigation.Thirdly, GPS/DR integrated navigation in PNS is studied, through analyzing the error of pedestrian DR and building the model of GPS/DR. In order to get more precise position, the observation error covariance matrices adaptive filter based on Sage filter and adaptive fitting for covariance matrices of the model errors, Robust Kalman Filter and GPS outliers detection and elimination is presented and tested.Finely, pedestrian navigation in indoor environment is presented. Based on the ultrasonic sensors time difference of arrival (TDOA) location system is discussed. TDOA/DR integrated navigation system is used in indoor personal location, and emulation results prove it effective and high precise.According to the research of this paper, high precise personal location without blind areas is realized. GPS/DR integrated navigation system with Digital Map can get high precise position information through the physical emulating.