Study On The Information Fusion Technology Based On The PNS

In open space,it is possible to rely on satellite navigation systems,just like(BDS/GPS/GLONASS/GALILEO)for navigation and positioning.However,in individual combat operations,soldiers may perform missions in concealed locations or indoors.At this time,satellite signal coverage is limited.Satellite navigation systems are not available.This requires the development of an autonomous,reliable positioning system that can operate indoors,that is an indoor positioning system(IPS).The MEMS-based personal navigation system(PNS)has been widely used in anti-terrorism operations,fire field rescue and other emergency rescue fields due to its low price.In this paper,a kind of multi-sensor information fusion technology of MIMU,FSR,barometer,magnetometer and LiDAR is studied based on personal navigation system.By analyzing the characteristics of pedestrians,an improved Zero-Velocity Update method is proposed and a multi-condition constraint to detect the zero velocity is designed.Based on the classic strapdown solution,the statistical characteristics of the micro-inertial measurement unit during walking are analyzed.Thresholds are set for the acceleration modulus,sliding variance,and angular velocity modulus.At the same time,pressure sensitive sensor information is incorporated to detect the walking process.In the zero velocity range,the altitude information of the barometer and the heading information of the magnetometer are then integrated,and the speed and height and heading angle errors are used as external reference.The Kalman filter based on zero speed correction is used to feedback correct the attitude error,position error and speed error of the personal navigation system.This corrects the cumulative error of the micro inertial measurement unit.The comparative experiments show that the information fusion method of micro inertial measurement unit/pressure sensitive sensor/barometer/magnetometer can effectively reduce the drift error of the MEMS inertial system,increase the application range of the zero speed correction method and improve the navigation accuracy of the system.Finally,an SLAM technology based on LiDAR is studied,and it is proved by simulation that it can be used in the future indoor navigation system of single soldier.