Research On Technique Foot-Mounted IMU Based Pedestrian Navigation

Foot-Mounted IMU(Inertial Measurement Unit)based pedestrian navigation technique has been widely studied in last decade,which is partly due to the imperative requirement of an accurate and reliable pedestrian tracking system in many fields(e.g.,soldier and first responder positioning).On the other hand,the emerging position aware calculation such as mixed reality and augmented reality also necessitate continuous and real-time positioning service.The thesis outline is as follows: firstly a progress review about Foot-Mounted inertial navigation is made.Then it follows the introduction to the principle of the zerovelocity aided inertial navigation.Aiming at the research blank of foot-mounted IMU data simulation,a real measured data based foot-mounted IMU data generator is developed for the use of algorithm evaluation and chip selection in system design.The Foot-Mounted system is analyzed from the aspects of both the static characteristic and the dynamic characteristic based on the generated simulation data,so that the error induced by the sensor error and the zero velocity measurement error can be quantified.After that a novel equality constraint method that fuses the information of two footmounted systems is also proposed,which is proved to perform significantly better than the existing basic single-foot algorithm as well as the upper bound based inequality constraint algorithm.