Research On Path Restoration Methods Based On Gyroscopes And Accelerometers

With the continues progress of modern science and technology, the demand for positioning keeps raising and coursed more concern of people. The positioning of people has become a pressing need in more and more domains. Some Global Navigation Satellite System(GNSS) position well in outdoor environment. But GNSS could not work as they usually do to satisfy the demands of positioning in the signal blind zone, such as the tunnel, the mine and some indoor places. There are three aspects about blind areas positioning in this article:First, pedestrian dead reckoning(PDR) as the core algorithm is introduced, by analyzing the problems that exist in present PDR algorithm, the corresponding solutions has been put forward.Second, stride frequency, walking direction and step length as the three essential elements in PDR algorithm has been designed and realized via different algorithms. Accelerometer is used to estimate stride frequency, peak detection method and auto correlation analysis algorithm are used to count steps. For estimation of direction, this article has to use the quaternion attitude updating based on gyroscope, extended kalman filtering fusion, the heuristic drift elimination algorithm and EHDE algorithm proposed in this article. Weinberg and Kim algorithm were used respectively to estimate the pedestrians walking step length.Finally, this article reallized the blind area location and recover the path base on the Android platform.