Research On Individual Soldier Adaptive Navigation System Based On MIMU

The individual soldier navigation system based on MIMU can complete autonomous navigation tasks in a variety of environments,providing accurate and real-time navigation and positioning services for individual soldiers.This research is based on the adaptability of individual soldier navigation,mainly for three aspects of research: one is to design a set of MIMU-based individual soldier navigation equipment and software algorithms;the second is to improve the individual soldier navigation system to adapt to different people and complex sports It can be used by any fighters with this equipment installed,eliminating the need for complex parameter adjustment processes.The third is to improve the adaptability of the individual navigation system to the environment,using individual navigation equipment based on visual/inertial combination to compensate for pure inertia The lack of navigation expands the adaptability of the navigation system.The system focuses on satellite rejection conditions,uses the micro-inertial measurement module as the core device,and uses the visual sensor and other sensors as the auxiliary navigation module to improve the adaptability,convenience,and robustness of the individual soldier navigation system,providing the soldier with more precision Navigation positioning.The main research contents are as follows:1)Design and implement a portable individual soldier navigation system,including foot information collection module,visual inertial data collection module,radio communication module,handheld terminal host computer and host computer software.The system can collect and solve navigation and positioning information in real time,and display the navigation results in the handheld PC software in real time.At the same time,the module can be started by one key,easy to operate,and the interface is friendly.Once Bluetooth/WIFI is connected,information sharing can be achieved.Indoor and outdoor experiments have verified the stability,efficiency and portability of the module.2)Aiming at the difference of the parameters used by individual soldier navigation systems in different individuals and complex motion conditions,a zero-speed detection method based on deep learning is proposed.The ultrasonic ranging module is designed to make a learning label for zero-speed detection,a data set for deep learning is established,a deep learning model is trained,and the effectiveness of deep learning for zero-speed detection is verified,which is used to navigate individual soldiers.Lay the foundation for the improvement of the system movement adaptability3)Aiming at the adaptability of individual soldier navigation system to the environment under complex environment,a single soldier navigation system based on visual/inertial combination is proposed.The design implements the visual/inertial calibration method and evaluates the calibration accuracy,discusses the visual/inertial integrated navigation related algorithm,designs and implements the algorithm,and establishes a visual/inertial real-time navigation system for experimental verification.The effectiveness and feasibility of visual/inertial individual soldier combined navigation are verified,and the versatility of indoor/outdoor visual/inertial navigation is verified by experiments.The main contribution of this research is: First,a set of individual soldier navigation system modules are designed,so that users can quickly adapt to the individual soldier navigation system.The second is to introduce deep learning algorithms into zero-speed detection,optimize the individual soldier navigation system through intelligent methods,and improve the adaptability of the individual soldier navigation algorithm to different people and complex movements;the third is to combine the inertial vision navigation algorithm Introduced in individual soldier navigation,and improved the adaptability of individual soldier navigation system to different environments.Comprehensively improve the combat level of individual soldier navigation system from three aspects.