| A new pedestrian positioning system is proposed in this paper to solve the shortcomings of the widely used GPS positioning system, whose signal is easy to be blocked. This system is suitable for pedestrian positioning in a complex environment, in case of GPS signal missing, whether indoors or outdoors. The pedestrian positioning system based on inertial measurements has the advantages of no environmental constraints and convenience for use. It can be widely used in the field of entertainment, emergency relief and so on.Firstly, the six-axis inertial sensor MPU6050 and HMC5883 magnetic sensor data were acquired with the use of ARM Cortex-M3 32-bit processor and I2C bus. Secondly, the experimental platform was built, and the output signals of sensors were preprocessed through initial calibration, low-pass filter, six-position calibration method and Kalman filter. Thirdly, based on this experimental platform, the existing stride length model, attitude updating algorithm, heading angle estimation method and position determination algorithm were theoretically derivated and experimentally verificated, then the suitable application model for this project was determined. Finally, a lot of experiments were carried out and parameters for the proposed algorithm were calibrated. A fusion algorithm based on gyroscope and electronic compass was proposed to estimate the heading angle of pedestrian. Experimental results show that the proposed algorithm can improve the positioning accuracy and stability.The experimental platform and the algorithm in this paper are only suitable for the two-dimensional space, and the movement of going upstairs and downstairs is not considered. Using the altimeter to achieve three-dimensional space navigation and combining with GPS to expand the application scenarios should be researched in the future. |
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