CN102261915B - Pedestrian inertial navigation device and method - Google Patents
Pedestrian inertial navigation device and method Download PDFInfo
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- CN102261915B CN102261915B CN 201110106566 CN201110106566A CN102261915B CN 102261915 B CN102261915 B CN 102261915B CN 201110106566 CN201110106566 CN 201110106566 CN 201110106566 A CN201110106566 A CN 201110106566A CN 102261915 B CN102261915 B CN 102261915B
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Abstract
The invention discloses a pedestrian inertial navigation device and a pedestrian inertial navigation method. An inertia measurement unit comprises three accelerometers of which sensitive directions are vertical to one another, and three gyros of which sensitive axes are vertical to one another; a power supply unit is electrically connected with the inertia measurement unit, a data acquisition and processing unit and a display unit respectively; an output end of the inertia measurement unit is connected with an input end of the data acquisition and processing unit; an output end of the data acquisition and processing unit is connected with an input end of the display unit; a walking state acquisition unit comprises a first microswitch which is fixedly arranged on a heel part of a shoe of a pedestrian and a second microswitch which is fixedly arranged on a sole part of the shoe of the pedestrian; and the first microswitch and the second microswitch are electrically connected with the input end of the data acquisition and processing unit respectively. During navigation, independent of a global position system (GPS) and other external facilities, the inertia measurement unit is corrected through known characteristics of the inertia measurement unit in a certain walking state, and long-term accumulated errors of the inertia measurement unit are eliminated so as to improve the navigation accuracy.
Description
Technical field
The present invention relates to a kind of pedestrian inertial navigation device and pedestrian's inertial navigation method, more specifically, relate to a kind of assisting based on the walking state sensor and carry out the inertia device correction with inertial measuring unit and the method for the pedestrian navigation of navigation accuracy.
Background technology
The GPS technology can be used for pedestrian navigation at present.But, in indoor place of waiting the very faint place of gps signal or vegetation building to block satellite-signal, have the problem of location difficulty or precise decreasing.
Some pedestrian navigation devices utilize in-plant radio navigation, but this requirement provides radio transmitting apparatus, are unsuitable for using in location circumstances and promoting.And can not block radio signal when using, to pedestrian's the obstacle that acted on one's own.
The micro inertial measurement unit, MIMU precision is on the low side at present, and drift error is larger, has larger positioning error when being used in separately long-time navigation and can not satisfy general navigation demand, needs to seek the method that improves navigation accuracy.
Summary of the invention
The object of the invention is to avoid the weak point in above-mentioned technology, but pedestrian inertial navigation device and the method for the external infrastructure self-contained navigations such as a kind of GPS of not relying on are provided.
For achieving the above object, the technical solution used in the present invention is: this pedestrian inertial navigation device comprises for the Inertial Measurement Unit, data acquisition and the processing unit that are fixedly connected with pedestrian's heel, display unit, walking state acquisition unit and power supply unit, and Inertial Measurement Unit comprises mutually perpendicular three accelerometers of sensitive direction and mutually perpendicular three gyros of sensitive axes; Power supply unit is electrically connected to Inertial Measurement Unit, data acquisition and processing unit and display unit respectively, the output terminal of Inertial Measurement Unit is connected with the input end of data acquisition and processing unit, and the output terminal of data acquisition and processing unit is connected with the input end of display unit; Walking state acquisition unit comprises be used to first microswitch at the heel position that is fixedly installed in pedestrian's shoes and is used for being fixedly installed in second microswitch at sole position of pedestrian's shoes, and the first microswitch, the second microswitch are electrically connected to the input end of data acquisition and processing unit respectively.
The method that the present invention utilizes said apparatus to carry out pedestrian's inertial navigation comprises the steps:
(1) heel with the Inertial Measurement Unit in pedestrian inertial navigation device and pedestrian is fixed together, and makes that x axle in three sensitive axes of Inertial Measurement Unit is parallel with the length direction of ground and footwear, the y axle is parallel to the ground and the z axle is perpendicular to the ground; The first microswitch of walking state acquisition unit is fixedly installed in the heel position of pedestrian's shoes, and just the second microswitch of walking state acquisition unit is fixedly installed in the sole position of pedestrian's shoes;
(2) when the pedestrian remains static, pedestrian inertial navigation device is carried out initial alignment;
(3) Inertial Measurement Unit gathers respectively acceleration and the angular velocity on x-axis, y-axis and z-axis and is transferred to data acquisition and processing unit from pedestrian's heel;
(4) acceleration on data acquisition and processing unit x axle that step (3) is obtained compares with default threshold value:
if the acceleration on the x axle is less than default threshold value, and the first microswitch and the second microswitch are closure state, data acquisition and processing unit (2) are utilized present speed that strap inertial navigation algorithm calculates as from last execution in step (4) accumulated error up till now, the present speed of the calculating of strap inertial navigation algorithm in data acquisition and processing unit is thought accumulated error, according to this error, Inertial Measurement Unit is proofreaied and correct, the rear x axle that utilizes strap inertial navigation algorithm that step (2) is gathered, attitude information and the displacement information of the acceleration on y axle and z axle and angular speed calculation pedestrian's heel,
If the acceleration on the x axle more than or equal to default threshold value, directly utilizes attitude information and the displacement information of acceleration on the x-axis, y-axis and z-axis that strap inertial navigation algorithm gathers step (2) and angular speed calculation pedestrian's heel;
(5) attitude information and the displacement information that step (4) are calculated send to display unit and show, return to simultaneously execution in step (3).
With respect to prior art, advantage of the present invention is:
(1) the main sensors part that uses of the present invention is Inertial Measurement Unit, is a kind of inertial navigation unit; Inertial navigation is a kind of air navigation aid of autonomous type, and it relies on the carrier equipment of itself to navigate fully independently, need not the auxiliary of external unit.Use now more GPS navigation equipment to need to receive the satellite-signal of sufficient intensity, be unfavorable for using in the environment such as indoor or luxuriant woods.
(2) use walking state acquisition unit in the present invention, be used for obtaining the current walking state of pedestrian.The inertial navigation method that adopts is periodically proofreaied and correct Inertial Measurement Unit, thereby has been eliminated long-term accumulated error according to known walking state, has improved navigation accuracy.Otherwise, because the accumulated error of inertia device generally can cause resultant error too large with the speed accumulation of time square, can't use.
Description of drawings
Fig. 1 is system construction drawing of the present invention;
Fig. 2 is the installation site schematic diagram of Inertial Measurement Unit;
Fig. 3 is the schematic diagram in 5 stages of pedestrian's walking state;
Fig. 4 represents in pedestrian's walking process, and heel portion is with respect to the speed on ground and the relation of time, and heel section is with respect to different stages and the cyclical variation along with pin is in of the speed on ground;
Fig. 5 is walking state acquisition cell schematics;
Fig. 6 has illustrated installation site of the present invention;
in figure: 1 is Inertial Measurement Unit, 2 are data acquisition and processing unit, 3 is display unit, 13 are walking state acquisition unit, 4 is power supply unit, 5 is heel, 6 is the IMU installation site, 7 is sole, 8 for right crus of diaphragm with touching end state, 9 set level state for the right crus of diaphragm palm, 10 is the left foot lifting status, 11 for right crus of diaphragm with lifting status, 12 is the whole lifting status of right crus of diaphragm, 14 are walking state acquisition cellular installation position, 15 is shoe-pad, 16 for being arranged on the microswitch at shoe-pad sole position, 17 for being arranged on the microswitch at shoe-pad heel position, 18 is the wire that is connected with microswitch, 19 is wire, 20 is terminating machine.
Embodiment
Below with reference to Fig. 1 and Fig. 2, pedestrian inertial navigation device of the present invention is described further.
Inertial Measurement Unit 1(is called for short IMU) mainly consisted of by mutually perpendicular three accelerometers of sensitive direction, mutually perpendicular three gyros of sensitive axes, necessary controller and output terminal.Inertial Measurement Unit 1 is electrically connected to power supply unit 4, and is powered by power supply unit 4.The output terminal of Inertial Measurement Unit 1 is connected with the input end of data acquisition and processing unit 2, provides measurement data to data acquisition and processing unit 2.Inertial Measurement Unit 1 is fixed together with pedestrian's heel, but should not affect walking.Inertial Measurement Unit 1 has three sensitive axes x, y, z, should make in the time of fixedly that the x axle is parallel with the length direction of ground and footwear, the y axle is parallel to the ground and the z axle is perpendicular to the ground.Due to the advantage of MEMS inertia device on volume and weight, Inertial Measurement Unit 1 is generally selected the MEMS device, can select MEMSENSE company H3 ?IMU type " high-performance Inertial Measurement Unit "; H3 ?IMU type " high-performance Inertial Measurement Unit " adopts the 9V power supply, and communication interface is RS422, and weight is only 50 grams, does not affect pedestrian's freedom of action when being arranged on the heel position.
The input end of data acquisition and processing unit 2 is connected with Inertial Measurement Unit 1 output terminal, so that data acquisition and processing unit 2 periodically gather the measurement data of Inertial Measurement Unit 1.Data acquisition and processing unit 2 are electrically connected to power supply unit 4 simultaneously, and are powered by power supply unit 4.Data acquisition and processing unit 2 comprise a high performance Floating-point DSP, are used for operation inertial navigation algorithm, and obtain pedestrian's the information such as position, direction, speed after according to the method for pedestrian's inertial navigation, the measurement data that collects being processed.Data acquisition and processing unit 2 can adopt the F28335 type DSP of TI company, and its adopts SOC technology, integrated 32 floating-point high-speed CPUs, USB (universal serial bus), internal RAM and an inner Flash resource; USB (universal serial bus) can communicate with Inertial Measurement Unit 1, and internal RAM and Flash are used for storage program and data.
Walking state acquisition unit 13 comprises the first microswitch 16 and the second microswitch 17.The first microswitch 16 be connected microswitch 17 and be connected with the input end of data acquisition and processing unit 2 by wire 18 respectively.Closure when microswitch is under pressure does not disconnect when there is no pressure.As shown in Figure 5, the first microswitch 16 is installed on the heel position of the shoe-pad 15 of pedestrian's shoes, is used for receiving the pressure of pedestrian's heel; The second microswitch 17 is installed on the sole position of the shoe-pad 15 of pedestrian's shoes, is used for receiving the pressure of pedestrian's sole.
It is a terminating machine 20 that data acquisition and processing unit 2, display unit 3 and power supply unit 4 can be assembled into.Terminating machine 20 is hand-holdable, or is placed on and carries the portable effect of playing in knapsack.
As shown in Figure 6, being positioned at Inertial Measurement Unit 1 on pedestrian's shoes is connected with walking state acquisition unit to be connected with communication conductor by power supply and is connected with terminating machine 20.Power supply and communication conductor 19 should not affect walking along the wiring of pedestrian's thigh.
The present invention utilizes the method for above-mentioned pedestrian inertial navigation device navigation to comprise the steps:
(1) heel of the Inertial Measurement Unit 1 in pedestrian inertial navigation device with the pedestrian is fixed together, makes that x axle in three sensitive axes of Inertial Measurement Unit 1 is parallel with the length direction of ground and footwear, the y axle is parallel to the ground and the z axle is perpendicular to the ground; The first microswitch 16 of walking state acquisition unit 13 is fixedly installed in the heel position of pedestrian's shoes, and the second microswitch 17 of walking state acquisition unit 13 is fixedly installed in the sole position of pedestrian's shoes.
(2) when the pedestrian remains static, pedestrian inertial navigation device is carried out initial alignment.
Initial alignment refers to need to obtain initial velocity and the initial position message of Inertial Measurement Unit 1 before entering navigational state, and geographic coordinate system is aimed in the sensing of Inertial Measurement Unit 1.The pedestrian stands still on the level ground, and towards a certain reference orientation (as the north), can carry out initial alignment; This moment, initial velocity was 0, and institute occupies and direction is initial position and direction, and navigation position after this and direction are all with respect to initial position and direction.
(3) Inertial Measurement Unit 1 gathers respectively acceleration and the angular velocity on x-axis, y-axis and z-axis and is transferred to data acquisition and processing unit 2 from pedestrian's heel;
(4) acceleration on data acquisition and processing unit 2 x axle that step (3) is obtained compares with default threshold value: default threshold value can be static, as is set to 0.5m/s
2Can be also dynamic setting, as be set to 5% of peak acceleration.
if the acceleration on the x axle is less than default threshold value, and the first microswitch 16 and the second microswitch 17 are closure state, data acquisition and processing unit (2) are utilized present speed that strap inertial navigation algorithm calculates as from last execution in step (4) accumulated error up to the present, utilize the present speed that strap inertial navigation algorithm is calculated to think accumulated error data acquisition and processing unit 2, according to this accumulated error, Inertial Measurement Unit 1 is proofreaied and correct, the rear x axle that utilizes strap inertial navigation algorithm that step (2) is gathered, attitude information and the displacement information of the acceleration on y axle and z axle and angular speed calculation pedestrian's heel,
If the acceleration on the x axle more than or equal to default threshold value, directly utilizes attitude information and the displacement information of acceleration on the x-axis, y-axis and z-axis that strap inertial navigation algorithm gathers step (2) and angular speed calculation pedestrian's heel.
Because Inertial Measurement Unit in the present invention 1 and heel are fixed together, belong to strapdown.Therefore, the strap inertial navigation algorithm of present maturation be can use, from acceleration and turning rate input, position, orientation, velocity information calculated.
Under actual conditions, the gyro in Inertial Measurement Unit 1 has drift error, and accelerometer has the error of zero.Theoretical according to inertial navigation, these errors can cause the systematic error that accumulates in time.The time of navigation is longer, and the error of accumulation is larger.The present invention is just for this problem, and known information when utilizing pedestrian's walking take the time of striding as the cycle, is proofreaied and correct Inertial Measurement Unit 1, makes the time of the accumulation of error only be the cycle of striding, thereby has reduced navigation error.
Because the double teacher that each step can be divided into (first to step right crus of diaphragm as example) shown in Figure 3: show that the right crus of diaphragm rear heel lands, after rear heel is set level, centre of body weight is transferred to above right crus of diaphragm, lift before left foot, left foot lands and sets level the rear right heel lift, right crus of diaphragm is stepped on ground, tiptoe is liftoff rear beginning and reach, this EOS.In not landing and landing process, right crus of diaphragm all at the volley, the inertial measuring unit data variation is larger, but land and left foot strides in process at right crus of diaphragm, right crus of diaphragm is as the fulcrum of centre of body weight, and its position does not change, and inertial measuring unit only is affected by gravity, acceleration and be local gravity, angular velocity are zero.With the drift error of current inertia sensing unit output as the inertia sensing unit, deduct from measurement result.Show as Fig. 4, heel section is with respect to different stages and the cyclical variation along with pin is in of the speed on ground.These characteristics can be used for inertial measuring unit is proofreaied and correct, and eliminate its drift error, and eliminate the long-term accumulation of error.
In addition, by a pair of microswitch that arranges before and after the sole: the first microswitch 16 and the second microswitch 17 can obtain the walking state of step.Only at the first microswitch 16 and the whole pressurizeds of the second microswitch 17 when closed, think that just that pin of installation walking state acquisition unit 13 lands and sets level.Can eliminate like this misjudgment phenomenon that just causes from acceleration rate threshold judgement walking state.
(5) attitude information and the displacement information that step (4) are calculated send to display unit 3 and show, return to simultaneously execution in step (3).
Claims (2)
1. pedestrian inertial navigation device, it is characterized in that: comprise for the Inertial Measurement Unit (1) that is fixedly connected with pedestrian's heel, data acquisition and processing unit (2), display unit (3), walking state acquisition unit (13) and power supply unit (4), described Inertial Measurement Unit (1) comprises mutually perpendicular three accelerometers of sensitive direction and mutually perpendicular three gyros of sensitive axes, and the x axle in three described sensitive axes is parallel with the length direction of ground and footwear, the y axle is parallel to the ground and the z axle is perpendicular to the ground; Described power supply unit (4) is electrically connected to Inertial Measurement Unit (1), data acquisition and processing unit (2) and display unit (3) respectively, the output terminal of described Inertial Measurement Unit (1) is connected with the input end of data acquisition and processing unit (2), and the output terminal of data acquisition and processing unit (2) is connected with the input end of display unit (3); Described walking state acquisition unit (13) comprises first microswitch (16) at the heel position that is fixedly installed in pedestrian's shoes and is fixedly installed in second microswitch (17) at sole position of pedestrian's shoes, and described the first microswitch (16), the second microswitch (17) are electrically connected to the input end of data acquisition and processing unit (2) respectively; Wherein, the acceleration on described data acquisition and processing unit (2) the x axle that Inertial Measurement Unit (1) can be gathered compares with default threshold value:
If the acceleration on the x axle is less than default threshold value, and described the first microswitch (16) and the second microswitch (17) are closure state, data acquisition and processing unit (2) will utilize present speed that strap inertial navigation algorithm calculates as accumulated error, and according to this accumulated error, Inertial Measurement Unit (1) is proofreaied and correct rear attitude information and the displacement information that utilizes acceleration on the x-axis, y-axis and z-axis that strap inertial navigation algorithm gathers Inertial Measurement Unit (1) and angular speed calculation pedestrian's heel;
If the acceleration on the x axle more than or equal to default threshold value, directly utilizes attitude information and the displacement information of acceleration on the x-axis, y-axis and z-axis that strap inertial navigation algorithm gathers Inertial Measurement Unit (1) and angular speed calculation pedestrian's heel.
2. a device that utilizes claim 1 carries out the method for pedestrian's inertial navigation: it is characterized in that comprising the steps:
(1) heel with the Inertial Measurement Unit in described pedestrian inertial navigation device (1) and pedestrian is fixed together, and makes that x axle in three sensitive axes of Inertial Measurement Unit (1) is parallel with the length direction of ground and footwear, the y axle is parallel to the ground and the z axle is perpendicular to the ground; First microswitch (16) of described walking state acquisition unit (13) is fixedly installed in the heel position of pedestrian's shoes, and second microswitch (17) of just described walking state acquisition unit (13) is fixedly installed in the sole position of pedestrian's shoes;
(2) when the pedestrian remains static, pedestrian inertial navigation device is carried out initial alignment;
(3) described Inertial Measurement Unit (1) gathers respectively acceleration and the angular velocity on x-axis, y-axis and z-axis and is transferred to described data acquisition and processing unit (2) from pedestrian's heel;
(4) acceleration on described data acquisition and processing unit (2) x axle that step (3) is obtained compares with default threshold value:
if the acceleration on the x axle is less than default threshold value, and described the first microswitch (16) and the second microswitch (17) are closure state, data acquisition and processing unit (2) are utilized present speed that strap inertial navigation algorithm calculates as from last execution in step (4) accumulated error up till now, and according to this accumulated error, Inertial Measurement Unit (1) is proofreaied and correct, the rear x axle that utilizes strap inertial navigation algorithm that step (2) is gathered, attitude information and the displacement information of the acceleration on y axle and z axle and angular speed calculation pedestrian's heel,
If the acceleration on the x axle more than or equal to default threshold value, directly utilizes attitude information and the displacement information of acceleration on the x-axis, y-axis and z-axis that strap inertial navigation algorithm gathers step (2) and angular speed calculation pedestrian's heel;
(5) the described attitude information and the displacement information that step (4) are calculated send to described display unit (3) and show, return to simultaneously execution in step (3).
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| CN 201110106566 CN102261915B (en) | 2011-04-27 | 2011-04-27 | Pedestrian inertial navigation device and method |
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| CN103267527A (en) * | 2013-06-08 | 2013-08-28 | 重庆绿色智能技术研究院 | System and method for realizing tower stability monitoring and early-warning |
| CN103744099A (en) * | 2013-11-20 | 2014-04-23 | 哈尔滨工程大学 | Individual soldier navigation method based on equality constraint Kalman filtering |
| CN104976997A (en) * | 2014-04-02 | 2015-10-14 | 北京自动化控制设备研究所 | Integrated design method of personal indoor navigation system |
| CN104613963B (en) * | 2015-01-23 | 2017-10-10 | 南京师范大学 | Pedestrian navigation system and navigation locating method based on human cinology's model |
| CN105066989A (en) * | 2015-06-30 | 2015-11-18 | 上海恺希机器人有限公司 | Positioning apparatus |
| CN105258675B (en) * | 2015-11-30 | 2017-12-29 | 北京机械设备研究所 | A kind of elevation location method for indoor pedestrian navigation device |
| CN106052675B (en) * | 2016-05-27 | 2020-06-16 | 中国人民解放军总医院第六医学中心 | Human body motion and posture monitoring device and method |
| CN109520494B (en) * | 2017-09-19 | 2022-07-12 | 北京自动化控制设备研究所 | Indoor walking micro-inertia based autonomous navigation method |
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| JP2970494B2 (en) * | 1995-08-31 | 1999-11-02 | ヤマハ株式会社 | Music sound control method and music sound control device |
| JP2002358149A (en) * | 2001-06-01 | 2002-12-13 | Sony Corp | User inputting device |
| JP2005293505A (en) * | 2004-04-05 | 2005-10-20 | Sony Corp | Electronic equipment, input device and input method |
| CN101493335B (en) * | 2009-02-27 | 2011-05-04 | 启明信息技术股份有限公司 | GPS/DR combined navigation method and device |
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