Used For Indoor Positioning Of Inertial Navigation Technology Research

With the development of Micro-Electro-Mechanical Systems (MEMS), MEMS-based Inertial Navigation System presents tremendous value of research and broad application prospects. This systems reveals a number of advantages of small-sized, low-cost, good concealing performance and high independence. Accordingly, it can give full play to its advantages in the environment without Global Position System (GPS) signals like indoors. However, there are some shortcomings, e.g., MEMS-based inertial sensors are low precision to some extent and can not be used for long duration.This paper describes the techniques for the indoor locating, and analyzed the working principle of MEMS inertial for indoor navigation. Then an enhanced algorithm is proposed for indoor locating using the MEMS inertial sensors, e.g.:1. The detailed information about the indoor locating is illustrated. Meanwhile, the transforming methods between several coordinate systems after the common coordinate systems were introduced. Then, the quaternion method is chosen in this paper.2. Based on the previous research, this thesis improves and proposes gait phase detection algorithm, orientation estimation algorithm, zero velocity update algorithm and extended Kalman filtering algorithm.3. In order to validate the accuracy of the proposed algorithm, a field walking experiment was implemented on the mobile phone, which satisfies the requirements of indoor locating.