Research On The Navigation Algorithm Of Individual-Soldier Positioning Based On Motion And Context

In recent years,with the rapid development of Micro-Electro-Mechanical System technology and micro inertial sensors.It has provided a good hardware support for the individual-soldier navigation.The individual-soldier navigation technology based on MIMU,which is short for Micro Inertial Measurement Unit has the advantage of being independent,Also,the flexibility is pretty good.It has become a research hotpot in the field of navigation.This paper firstly explore the constraint conditions and methods of individual-soldier navigation algorithm based on MIMU to improve the accuracy.Also design the individual-soldier navigation algorithm based on motion and context constraints to optimize the traditional algorithm and reduce the navigation and positioning errors for the soldier.The major research work includes:(1)Initially,this paper summarizes the research progress of individual-solider navigation algorithms based on MIMU and the key research problems,This paper uses motion and context constraint conditions to improve the precision of initial alignment and heading corrections,furthermore to reduce the error of soldier positioning.(2)The precision of MIMU is very low,It is unable to complete the initial self-alignment and the heading angle drifts severely.This paper uses context information to aid navigation solution in the process of initial alignment,heading keeping and correction.The magnetic field characteristics is relatively stable with the time and the building's basic information is easily to obtain,All these factors can be used to correct the heading.In the end,experiment is designed to validate the algorithm.The results show that this method can effectively reduce the drift of the heading angle.(3)This paper makes comparative analysis of the zero speed detection algorithm using different inertial sensors such as accelerometer or gyro.Finally design the improved algorithm which can better adapt to a soldier's movement of multi gait.the zero speed detection results is more accurate.(4)This paper classifies basic movement pattern of a soldier,and analyses the movement law in different movement patterns,This paper also explore the availability of constraint conditions for soldier navigation in different motion modes.At the same time,This paper explores the response characteristics depending on the different location of the MIMU sensors.This paper mainly research on dual MIMU for reasonable configuration and information fusion.(5)Through motion and context constraints,This paper optimizes navigation algorithm,and design individual-soldier navigation experiments.The experimental results show that the modified individual-soldier navigation algorithm based on motion and context constraints can effectively improve the precision of positioning and correct the heading.