Research On Trajectory Reconstruction Based On Inertial Sensor

According to an authoritative survey of the Global Network Index Institution,80% of the world's total number of people have at least one smartphone,and smartphone has become a necessity of people's daily life.Smartphone equipped with a global position system(GPS)chip can easily accomplish the pedestrian trajectory reconstruction in an open outdoor environment,thus providing people with a series of location-related services.However,when the GPS signal is transmitted in a complex indoor environment,it will be severely weakened,so GPS technology is difficult to accomplish the trajectory reconstruction work indoors.In recent years,inertial sensing technology has been vigorously developed to provide solutions for indoor trajectory reconstruction problems.On this basis,the research on pedestrian trajectory reconstruction based on inertial sensors is carried out.The main contents are as follows:Firstly,the coordinate system used for trajectory reconstruction is introduced.The principle of attitude calculation and trajectory calculation is analyzed in detail,and the attitude,velocity and position solution formulas are derived in detail.Secondly,in the process of pedestrian trajectory reconstruction,aiming at the problem of serious divergence of reconstructed trajectory caused by low precision of inertial sensor,a zero acceleration detection algorithm is proposed based on the zero velocity update(ZUPT)algorithm.At the moment of zero acceleration state,the attitude is re-estimated and the error is corrected,which effectively improves the problem that the trajectory divergence caused by the accumulated error in the trajectory reconstruction.Finally,the pedestrian performs the trajectory reconstruction system experiments in indoor and outdoor places,then the results are simulated by MATLAB platform.The experimental results show that the trajectory obtained by the proposed trajectory reconstruction algorithm based on inertial sensors can better fit the pedestrian's real motion trajectory,which verifies the effectiveness of this algorithm.The comparison of algorithm complexity results shows that the trajectory reconstruction algorithm has a lower implementation complexity on the basis of practicality.