基于MIMU的行人室内导航技术的实现

摘要

采用微机械惯性测量单元（ MIMU），设计一套固定在行人腰部的可穿戴式室内定位导航设备．采用行人航位推算原理（ PDR），计算行人行走的步数、步长及方位，实现行人室内定位，解决了GPS导航技术在室内无法使用的缺陷．测试结果表明：系统的平均定位误差低于行进距离的0.74％，满足行人室内定位要求．验证了系统的有效性和可靠性．%A wearable sensor is based on the micro inertial measurement unit( MIMU),which is fixed at the waist of human body. This system is useful in GPS-denied environments. The self-contained sensors measure the step-length and heading of the pedestrian to achieve the positioning. The test results illustrate that the system positioning error is less than 0. 74 % of the total traveled distance,which meets the pedes-trian positioning requirements. The effectiveness and reliability of the system is validated.