The Pedestrian Positioning System Based On Multi-point Motion Characteristics And Inertial Navigation

Pedestrian navigation has been a research hotspot in recent years.Pedestrian positioning methods relying on external signal sources such as GPS and base stations can meet the basic positioning needs of pedestrians.However,for environments with poor signals such as forests and mines,navigation systems based on inertial sensors have become the first choice for navigation and positioning.Classical pedestrian strapdown inertial navigation and pedestrian dead reckoning cannot satisfy the multi-gait complex pedestrian motion.On this basis,a pedestrian navigation system,which installs inertial sensors on multiple parts of the pedestrian's lower limbs is studied based on multi-point motion characteristics.The circuit system is small in size and easy to install.Pedestrians can be positioned in different state of motion without the external positioning signal sources.In this paper,a pedestrian inertial navigation system based on the foot's zero-speed detection is designed with the motion characteristics of the foot,and the position and speed errors of the system are removed by a correction algorithm.According to the motion characteristics of the waist,a pedestrian dead reckoning system based on a step counting algorithm is designed,and the heading angle is filtered to reduce the direction error.Moreover a three-dimensional pedestrian stepping algorithm based on the motion characteristics of pedestrian lower limbs is studied in this work.The vector step size is calculated according to the attitude and length of the lower shank and thigh,thereby navigation and positioning in a three-dimensional plane can be realized.Pedestrians' walking and running states are distinguished,and accurate pedestrian navigation with different navigation methods can be achieved.The hardware circuit system can be installed on the pedestrian's lower limbs.A mobile software and a computer software that display pedestrian position information have been designed and implemented in this work.The hardware systems are installed on the pedestrian's foot,shank,thigh and waist respectively,and Wi Fi is used to realize the transmission between hardware and software.Pedestrian positioning information obtained by hardware circuit calculation is sent to the mobile phone or computer via Wi Fi.The position and movement status of the pedestrian are clearly displayed through the map interface,and the system functions are stable.The relevant experiments are carried out.The test results show that the three-dimensional step size algorithm can accurately calculates the pedestrian step information,and the accuracy is larger than 96%.Accurate pedestrian navigation can be achieved in the different motion state,the positioning accuracy reaches larger than 95% in walking,and 92% in running.The system can meet the basic navigation requirement of pedestrians in different sports states.