Research On Cooperative Pedestrian Navigation Based On UWB/MIMU

Pedestrian Navigation System(PNS)is an important branch in the field of navigation,which is used in more kinds of occasions,and becoming more and more popular in recent years.Satellite-based navigation technology tends to be mature,but it is susceptible to signal occlusion,interference and other limitations and influences,so it cannot be used indoors,underground and in locations with poor signal.Pedestrian navigation systems based on inertial information often use Micro Electro Mechanical System(MEMS),which is easy to carry and has the advantages of low cost and small size.In addition,because it is not constrained by satellite signals,it can be used in indoor shopping malls,underground garages,etc.In recent years,it has been extensively studied by engineers and academic researchers.Due to the relatively low accuracy of MEMS currently on the market,long hours of work will lead to accumulation of error and then affect positioning accuracy.Therefore,how to improve the accuracy of the navigation system is a problem that has been studied and discussed.High-precision inertial navigation equipment is relatively expensive,and collaborative positioning can achieve the purpose of improving the positioning accuracy of each member through information sharing between members,which is a way to save costs and improve navigation accuracy.The topic of this thesis focuses on how to improve the accuracy of pedestrian navigation systems and achieve collaborative positioning.The content of the paper mainly includes:1)Firstly,the basic principles of the position and attitude resolution of pedestrian navigation systems are introduced.Then the coordinate systems commonly used in the navigation field and the conversion relationships are presented.Afterwards,the error of strapdown inertial navigation systems is analyzed.Then,the pose error model of pedestrian navigation system is constructed,and the filtering algorithm of pedestrian navigation system based on Extended Kalman Filter is introduced.2)This paper proposes a system correction algorithm based on the main course feedback correction.First,the influence of different installation positions of MEMS devices is compared,and the installation method fixed to the foot is determined.Aiming at the problem of gait recognition,by analyzing the state of the foot of pedestrians during walking,the zero-speed correction method based on the four-condition method is studied and improved;then,the error model of the micro-inertial device is analyzed,and the errorbased model is proposed MEMS device online correction algorithm;then a feedback correction algorithm based on main heading is proposed to improve the overall accuracy of the system.3)The related technologies and algorithms of collaborative navigation are studied.First,the concept and classification of collaborative navigation are briefly introduced,and several ranging technologies based on wireless sensors are introduced.In order to achieve multi-person positioning in a specific environment,based on the cooperative navigation mechanism,the paper proposes a pedestrian cooperative navigation model based on UWB/MIMU,and takes a dual pilot cooperative navigation system as an example to carry out simulation experiments.4)For pedestrian collaborative navigation system,this article conducted a system performance analysis.First,the Cramer-Rao boundary theorem is introduced,the degree of accuracy improvement of the high-precision master node to the slave node is analyzed,and based on this,the optimal formation configuration of the dual pilot cooperative navigation system is analyzed,and the optimal formation is analyzed.The configuration and other configurations are compared and simulated to verify the optimal formation configuration.