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A Closed-Form Analytical Estimation of Vertical Displacement Error in Pedestrian Navigation

机译:行人导航中垂直位移误差的封闭式解析估计

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We present an analytical expression for estimating the position error in the vertical direction in pedestrian navigation using an Inertial Measurement Unit (IMU) aided by an altimeter. The analytical expression is found to be directly proportional to the altimeter resolution, the square root of the altimeter sampling rate, IMU Velocity Random Walk (VRW), and a ratio of time intervals in the stance phase and the swing phase during the gait cycle, and inversely proportional to the square root of IMU sampling rate. The analytical analysis was verified by numerical simulations and supported by experimental results. The numerical simulation of the ZUPT-augmented navigation aided by an altimeter was conducted based on a mathematically simulated foot motion trajectory. Experiments were implemented on a foot-mounted platform containing IMUs and altimeters. The results from both simulations and experiments matched our analytical prediction, with an error less than 20%.
机译:我们提出了一种解析表达式,用于使用高度计辅助的惯性测量单元(IMU)估算行人导航在垂直方向上的位置误差。发现解析表达式与高度计分辨率,高度计采样率的平方根,IMU速度随机游走(VRW)以及步态周期中站立阶段和摆动阶段的时间间隔之比成正比,与IMU采样率的平方根成反比。通过数值模拟验证了分析分析,并得到了实验结果的支持。基于数学模拟的足部运动轨迹,进行了高度计辅助的ZUPT增强导航的数值模拟。实验是在包含IMU和高度计的脚安装平台上进行的。模拟和实验的结果均与我们的分析预测相符,误差小于20%。

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