Study On Indoor Location Of Pedestrian With IMU

With the great progress of society and the further development of technology,the uninterrupted research about positioning technology help people know where they are.When the positioning accuracy is required to be improved,higher requirements are placed on the complexity,stability and cost of the technology.Based IMU indoor pedestrian positioning technology is very cheap,easy to integrate,and does not need to build additional signal base station equipment.In this paper,the IMU positioning technology will be discussed in detail,mainly focusing all kinds of three-axis sensor navigation.The angular velocity during pedestrian movement is obtained by gyroscope swing principle.The acceleration information is measured by accelerometer,magnetometer is correcting the measurement error,heading attitude is calculated by those.Pedestrian's specific position and speed information is obtained through integration method,and pedestrian indoor positioning is realized.The main contents and innovations of the study are as follows,1.According to IMU positioning technology,an overall model framework for pedestrian positioning is designed.It includes:using IMU measurement data to solve the attitude space issue,and fusing two classical filtering algorithms to improve the attitude calculation method;the walking gait cycle analysis is carried out for pedestrians,and the tracking track is corrected by software simulation.The mathematical analytical formulas of three different inertial sensors for measuring output models are given.2.The design scheme applies the complementary filtering and Kalman filter fusion algorithm in the attitude resolution module to improve the attitude angle.The semi-fixed compensation coefficient is introduced into the complementary filtering algorithm,and the algorithm is improved to reduce the drift error and improve the accuracy of attitude calculation.3.In the trajectory tracking module,the gait period of pedestrian movement is analyzed in detail,and the integral error is corrected by zero velocity detection method.Proposed improved acceleration amplitude zero-speed detection method for pseudo zero-speed point,eliminate the false detection phenomenon,correct the drift error,and ensure the accuracy of the detection.Thereby improving the accuracy of the motion tracking trajectory obtained by the accelerometer integration method.Experimental software simulation is carried out for three innovative points mentioned in the appeal.The experimental results show that the innovative points proposed in this paper are feasible for pedestrian navigation and positioning,and can control the error well and improve the positioning accuracy.