Research on Pedestrian Navigation Zero Velocity Correction Method Based on Multi-sensor

摘要

Pedestrian navigation is an essential element in people's daily life. In some places where GPS signals are missing or weak, it is difficult to perform normal high precision navigation. As a strong supplement, inertial navigation does not depend on any external signals, but it has a large cumulative error. In this paper, a pedestrian navigation method with multi-sensor correction is studied based on the zero-velocity correction principle. The error source of pedestrian inertial navigation is analyzed and a multi-sensor error correction system is constructed. Based on the inertial sensor gyroscope and accelerometer, the magnetometer and altimeter are introduced to calculate the orientation and height. In the stance phase of pedestrian walking process the velocity and angular rate are reset and the orientation and height from navigation solution are corrected. The Kalman filter method is used to track and estimate the correction error for compensating the inertial navigation result. A pedestrian walking experiment was carried out. The results show that the constructed multi-sensor pedestrian navigation correction system can effectively track the pedestrian trajectory with a horizontal average error of 1.82% and a height average error of 2.53%. Therefore, the method can accurately perform pedestrian navigation and positioning.