Research on Integrated Navigation Technology of the Pedestrian Navigation System Based on MIMU/ Magnetometer

摘要

This paper investigates how to obtain a pedestrian's position, velocity and heading from a self-contained equipment when the Global Positioning System (GPS) can't provide accurate and continuous positioning information. We use the MEMS (micro electronical mechanical system) sensors (including GPS receiver, MEMS-gyroscope, MEMS-accelerometer, MEMS-magnetometer, MEMS-barometer) to establish the system. The MEMS sensors will be fixed on a shoe of a pedestrian, we call this navigation shoe. A positioning method is proposed which makes full use of the features that the inertial sensors are less vulnerable to external factors and can be used in an enclosed space conditions. Since the 3-axes magnetometers is unstable enough to various errors, such as hard and soft iron effects, oscillation of the pedestrian's body when walking, we develop an enhanced sensor fusion technique utilizing the Earth's magnetic field for heading estimation even in the perturbed magnetic field environments.Then we use this heading information and zero velocity as mearsurements of error-state Kalman filter to eliminate the state error. The capabilities of our approach and system are demonstrated using post-processed data obtained in experiment.