CN102261915A - Pedestrian inertial navigation device and method - Google Patents
Pedestrian inertial navigation device and method Download PDFInfo
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- CN102261915A CN102261915A CN 201110106566 CN201110106566A CN102261915A CN 102261915 A CN102261915 A CN 102261915A CN 201110106566 CN201110106566 CN 201110106566 CN 201110106566 A CN201110106566 A CN 201110106566A CN 102261915 A CN102261915 A CN 102261915A
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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's inertial navigation unit and pedestrian's inertial navigation method, more specifically, relate to a kind of based on auxiliary inertial measuring unit and the method for carrying out the inertia device correction of walking state sensor with the pedestrian navigation of navigation accuracy.
Background technology
The GPS technology can be used for pedestrian navigation at present.But,, have the problem of location difficulty or precise decreasing in indoor place of waiting very faint place of gps signal or vegetation building to block satellite-signal.
Some pedestrian navigation devices utilize in-plant radio navigation, but this requirement provides radio transmitting apparatus, are unsuitable for using in the location circumstances and promoting.And can not block radio signal when using, to pedestrian's the obstacle that acted on one's own.
At present the micro inertial measurement unit, MIMU precision is on the low side, and drift error is bigger, has bigger positioning error when being used in long-time navigation separately and can not satisfy general navigation demand, needs to seek the method for raising navigation accuracy.
Summary of the invention
The objective of the invention is to avoid the weak point in the above-mentioned technology, but the pedestrian's inertial navigation unit and the method for 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's inertial navigation unit comprises and is used for Inertial Measurement Unit, data acquisition and processing unit, display unit, walking state acquisition unit and the power supply unit of fixedlying connected with pedestrian's heel that 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 with 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 first microswitch that is used for fixing the heel position that is installed on pedestrian's shoes and is used for fixing second microswitch at the sole position of the shoes that are installed on the pedestrian that first microswitch, second microswitch are electrically connected with 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 Inertial Measurement Unit in pedestrian's inertial navigation unit and pedestrian is fixed together, and makes that the 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; First microswitch of walking state acquisition unit is fixedly installed in the heel position of pedestrian's shoes, and just 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's inertial navigation unit is carried out initial alignment;
(3) Inertial Measurement Unit is gathered acceleration and the angular velocity on x axle, y axle and the z axle respectively and is transferred to data acquisition and processing unit from pedestrian's heel;
(4) acceleration and the preset threshold value on data acquisition and processing unit the x axle that step (3) is obtained compares:
If the acceleration on the x axle is less than preset threshold value, and first microswitch and second microswitch are closure state, then 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, then the present speed of the calculating of strap inertial navigation algorithm in data acquisition and the processing unit is thought accumulated error, according to this error Inertial Measurement Unit is proofreaied and correct, after utilize strap inertial navigation algorithm that step (2) is gathered the x axle, the attitude information and the displacement information of acceleration on y axle and the z axle and angular speed calculation pedestrian's heel;
If the acceleration on the x axle, then directly utilizes the attitude information and the displacement information of acceleration on x axle, y axle and the z axle that strap inertial navigation algorithm gathered step (2) and angular speed calculation pedestrian's heel more than or equal to preset threshold value;
(5) attitude information that step (4) is calculated and displacement information send to display unit and show, return execution in step (3) simultaneously.
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 more GPS navigation equipment then to need to receive the satellite-signal of sufficient intensity now, be unfavorable in environment such as indoor or luxuriant woods, using.
(2) use walking state acquisition unit among the present invention, be used to obtain 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,, can't use because the accumulated error of inertia device generally can cause resultant error too big with the speed accumulation of time square.
Description of drawings
Fig. 1 is a system construction drawing of the present invention;
Fig. 2 is the installation site synoptic diagram of Inertial Measurement Unit;
Fig. 3 is the synoptic 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 and the time relation on ground, and heel portion is with respect to different stages and the cyclical variation along with pin is in of the speed on ground;
Fig. 5 is a walking state acquisition cell schematics;
Fig. 6 has illustrated installation site of the present invention;
Among the figure: 1 is Inertial Measurement Unit, 2 are data acquisition and processing unit, 3 is display unit, and 13 are walking state acquisition unit, and 4 is power supply unit, 5 is heel, 6 is the IMU installation site, and 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 for left foot lifts state, 11 for right crus of diaphragm with lifting state, 12 all lift state for right crus of diaphragm, 14 are installation site, walking state acquisition unit, 15 is shoe-pad, 16 for being installed in the microswitch at shoe-pad sole position, and 17 for being installed in the microswitch at shoe-pad heel position, and 18 is the lead that is connected with microswitch, 19 is lead, and 20 is terminating machine.
Embodiment
Below with reference to Fig. 1 and Fig. 2 pedestrian's inertial navigation unit of the present invention is described further.
Inertial Measurement Unit 1(is called for short IMU) mainly constitute by mutually perpendicular three accelerometers of sensitive direction, mutually perpendicular three gyros of sensitive axes, necessary control device and output terminal.Inertial Measurement Unit 1 is electrically connected with 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 influence 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.Because the advantage of MEMS inertia device on volume and weight, Inertial Measurement Unit 1 is generally selected the MEMS device for use, can select for use 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 only is 50 grams, does not influence pedestrian's freedom of action when being installed in the heel position.
The input end of data acquisition and processing unit 2 is connected with Inertial Measurement Unit 1 output terminal, so that the measurement data that data acquisition and processing unit 2 are periodically gathered Inertial Measurement Unit 1.Data acquisition and processing unit 2 are electrically connected with 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 to move the inertial navigation algorithm, and obtain pedestrian's information such as position, direction, speed after according to the method for pedestrian's inertial navigation the measurement data that collects being handled.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 stored programme and data.
Walking state acquisition unit 13 comprises first microswitch 16 and second microswitch 17.First microswitch 16 is connected by the input end of lead 18 with data acquisition and processing unit 2 respectively with second microswitch 17.Closure when microswitch is under pressure does not disconnect when having pressure.As shown in Figure 5, first microswitch 16 is installed on the heel position of the shoe-pad 15 of pedestrian's shoes, is used to receive the pressure of pedestrian's heel; Second microswitch 17 is installed on the sole position of the shoe-pad 15 of pedestrian's shoes, is used to receive the pressure of pedestrian's sole.
Display unit 3 is used for pedestrian's speed and the positional information that video data collection and processing unit 2 calculate, and man-machine interface is provided.The input end of display unit 3 is connected with the output terminal of data acquisition and processing unit 2.Display unit 3 can be a LCD.
Power supply unit 4 is powered by the wire pair total system, comprises accumulator and electric power controller, and wherein accumulator is used for storage of electrical energy, and electric power controller provides required voltage for different electricity consumption devices.
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 the knapsack.
As shown in Figure 6, the Inertial Measurement Unit 1 that is positioned on pedestrian's shoes is connected with terminating machine 20 with communication conductor 19 by power supply with walking state acquisition unit 13.Power supply and communication conductor 19 should not influence walking along the wiring of pedestrian's thigh.
The present invention utilizes the method for above-mentioned pedestrian's inertial navigation unit navigation to comprise the steps:
(1) Inertial Measurement Unit in pedestrian's inertial navigation unit 1 heel with the pedestrian is fixed together, makes that the 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 walking state acquisition unit 13 is fixedly installed in the heel position of pedestrian's shoes, and 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's inertial navigation unit is carried out initial alignment.
Initial alignment is meant initial velocity and the initial position message that needs to obtain 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 is gathered acceleration and the angular velocity on x axle, y axle and the z axle respectively and is transferred to data acquisition and processing unit 2 from pedestrian's heel;
(4) acceleration and the preset threshold value on data acquisition and processing unit 2 the x axle that step (3) is obtained compares: preset threshold value can be static, as is set to 0.5m/s
2Can be dynamic setting also, as be set to 5% of peak acceleration.
If the acceleration on the x axle is less than preset threshold value, and first microswitch 16 and second microswitch 17 are closure state, then 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, then the present speed that utilizes strap inertial navigation algorithm to calculate data acquisition and processing unit 2 is thought accumulated error, according to this accumulated error Inertial Measurement Unit 1 is proofreaied and correct, after utilize strap inertial navigation algorithm that step (2) is gathered the x axle, the attitude information and the displacement information of acceleration on y axle and the z axle and angular speed calculation pedestrian's heel;
If the acceleration on the x axle, then directly utilizes the attitude information and the displacement information of acceleration on x axle, y axle and the z axle that strap inertial navigation algorithm gathered step (2) and angular speed calculation pedestrian's heel more than or equal to preset threshold value.
Because Inertial Measurement Unit 1 is fixed together with heel among the present invention, belongs to strapdown.Therefore, the strap inertial navigation algorithm of present maturation be can use,, position, orientation, velocity information calculated from acceleration and angular velocity input.
Under the actual conditions, the gyro in the Inertial Measurement Unit 1 has drift error, and accelerometer has the error of zero.According to the inertial navigation theory, these errors can cause the systematic error that accumulates in time.The time of navigation is long more, and the error of accumulation is big more.The present invention is just at this problem, known information when utilizing pedestrian's walking, with the time of striding be the cycle, Inertial Measurement Unit 1 is proofreaied and correct, make the time of the accumulation of error only be the cycle of striding, thereby reduced navigation error.
Because five stages that each step can be divided into (is example to step right crus of diaphragm earlier) 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 the right crus of diaphragm, lift before the left foot, left foot lands and sets level the back right crus of diaphragm with lifting, right crus of diaphragm is stepped on ground, begins after tiptoe is liftoff and moves forward this EOS.In not landing and landing process, right crus of diaphragm all at the volley, the inertial measuring unit data variation is bigger, but land and left foot strides in the 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 subjected to gravity effect, acceleration and be local gravity, angular velocity are zero.With the drift error of current inertia sensing unit output, from measurement result, deduct as the inertia sensing unit.Show that as Fig. 4 heel portion 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 is provided with before and after the sole: first microswitch 16 and second microswitch 17 can obtain the walking state of step.Only when first microswitch 16 and the whole pressurizeds of second microswitch 17 are closed, think that just that pin of installation walking state acquisition unit 13 lands and sets level.Can eliminate so just and judge the misjudgment phenomenon that the walking state causes from acceleration rate threshold.
(5) attitude information that step (4) is calculated and displacement information send to display unit 3 and show, return execution in step (3) simultaneously.
Claims (2)
1. pedestrian's inertial navigation unit, it is characterized in that: comprise being used for Inertial Measurement Unit (1), data acquisition and processing unit (2), display unit (3), walking state acquisition unit (13) and the power supply unit (4) of fixedlying connected with pedestrian's heel, described Inertial Measurement Unit (1) comprises mutually perpendicular three accelerometers of sensitive direction and mutually perpendicular three gyros of sensitive axes; Described power supply unit (4) is electrically connected with 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 second microswitch (17) of first microswitch (16) that is used for fixing the heel position that is installed on pedestrian's shoes and the sole position that is used for fixing the shoes that are installed on the pedestrian, and described first microswitch (16), second microswitch (17) are electrically connected with the input end of data acquisition and processing unit (2) respectively.
2. a device that utilizes claim 1 carries out the method for pedestrian's inertial navigation: it is characterized in that comprising the steps step:
(1) heel with the Inertial Measurement Unit (1) in described pedestrian's inertial navigation unit and pedestrian is fixed together, and makes that the 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's inertial navigation unit is carried out initial alignment;
(3) described Inertial Measurement Unit (1) is gathered acceleration and the angular velocity on x axle, y axle and the z axle respectively and is transferred to described data acquisition and processing unit (2) from pedestrian's heel;
(4) acceleration and the preset threshold value on described data acquisition and processing unit (2) the x axle that step (3) is obtained compares:
If the acceleration on the x axle is less than preset threshold value, and described first microswitch (16) and second microswitch (17) are closure state, then 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, after utilize the attitude information and the displacement information of acceleration on x axle, y axle and the z axle that strap inertial navigation algorithm gathered step (2) and angular speed calculation pedestrian's heel;
If the acceleration on the x axle, then directly utilizes the attitude information and the displacement information of acceleration on x axle, y axle and the z axle that strap inertial navigation algorithm gathered step (2) and angular speed calculation pedestrian's heel more than or equal to preset threshold value;
(5) described attitude information that step (4) is calculated and displacement information send to described display unit (3) and show, return execution in step (3) simultaneously.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN104613963A (en) * | 2015-01-23 | 2015-05-13 | 南京师范大学 | Pedestrian navigation system and navigation positioning method based on kinesiology model |
| 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 |
| CN105066989A (en) * | 2015-06-30 | 2015-11-18 | 上海恺希机器人有限公司 | Positioning apparatus |
| CN105258675A (en) * | 2015-11-30 | 2016-01-20 | 北京机械设备研究所 | Elevation positioning method for indoor pedestrian navigation device |
| CN106052675A (en) * | 2016-05-27 | 2016-10-26 | 中国人民解放军海军总医院 | Device and method for monitoring movement and gestures of human bodies |
| CN109520494A (en) * | 2017-09-19 | 2019-03-26 | 北京自动化控制设备研究所 | One kind is based on the micro- inertia autonomous navigation method of indoor walking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
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