gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.2015.23.4.029-041gyroscopy-419Research ArticleСтатьиПешеходная интегрированная навигационная система с микроИИМ/GPS/магнетометром/бароальтиметромThe Pedestrian Integrated Navigation System with micro IMU / GPS / Magnetometer / Barometric AltimeterЛюЮ.LiuY.

Лю Юн, научный сотрудник. 

ЦайТ.CaiT.

Цай Тицзин, профессор.     

ЯнХ.YangH.

Ян Хун, научный сотрудник.

ЛюЧ.LiuCh.

Лю Чэн, сотрудник. 

СунЦ.SongJ.

Сун Цзюнь, сотрудник. 

ЮйМ.YuM.

Юй Минбао, сотрудник.      

26-й институт Китайской корпорации электронных технологийКитай26th Institute of China Electronics Technology Group CorporationChinaЮго-восточный университетКитайSoutheast UniversityChina26-й институт Китайской корпорации электронных технологий.Китай26th Institute of China Electronics Technology Group CorporationChina2015231220252342941Copyright © Лю Ю., Цай Т., Ян Х., Лю Ч., Сун Ц., Юй М., 20252025Лю Ю., Цай Т., Ян Х., Лю Ч., Сун Ц., Юй М.Liu Y., Cai T., Yang H., Liu C., Song J., Yu M.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/419

В статье представлена пешеходная интегрированная навигационная система (ПИНС), содержащая микроинерциальный измерительный модуль (ИИМ), модуль GPS, магнетометр и бароальтиметр, данные которых обрабатываются с помощью обобщенного фильтра Калмана (ОФК).

The paper presents a Pedestrian Integrated Navigation System (PINS) including micro Inertial Measurement Unit (IMU), Global Positioning System (GPS) module, magnetometer and barometric altimeter, whose data are processed by the Extended Kalman Filter (EKF).

Пешеходная интегрированная навигационная системамикроинерциальный измерительный модульмодуль GPSмагнетометрбароальтиметробобщенный фильтр КалманаРedestrian integrated navigation systemmicro inertial measurement unitsglobal positioning system modulemagnetometerbarometric altimeterextended Kalman filterReferencesSeong Yun Cho and Chan Gook Park, MEMS based pedestrian navigation system, The Journal of Navigation, 2006, no. 59, pp. 135-153.Seong Yun Cho and Chan Gook Park, MEMS based pedestrian navigation system, The Journal of Navigation, 2006, no. 59, pp. 135-153.Calusdian, J., A personal navigation system based on inertial and magnetic field measurements, Naval Postgraduate School, Monterey California, USA, 2010.Calusdian, J., A personal navigation system based on inertial and magnetic field measurements, Naval Postgraduate School, Monterey California, USA, 2010.Bird, J. and Arden, D., Indoor navigation with foot-mounted strapdown inertial navigation and magnetic sensors, IEEE Wireless Communication, 2011, no. 18, pp. 28-35.Bird, J. and Arden, D., Indoor navigation with foot-mounted strapdown inertial navigation and magnetic sensors, IEEE Wireless Communication, 2011, no. 18, pp. 28-35.Ojeda, L. and Borenstein, J., Personal dead-reckoning system for GPS-denied environments, Proceedings of the 2007 IEEE International Workshop on Safety, Security and Rescue Robotics Rome, Italy, September 2007.Ojeda, L. and Borenstein, J., Personal dead-reckoning system for GPS-denied environments, Proceedings of the 2007 IEEE International Workshop on Safety, Security and Rescue Robotics Rome, Italy, September 2007.Qian, W.-X., Zhu, X.-H., and Su, Y., Personal navigation method based on foot-mounted MEMS inertial/magnetic measurement unit, Journal of Chinese Inertial Technology, 2012, no. 5．Qian, W.-X., Zhu, X.-H., and Su, Y., Personal navigation method based on foot-mounted MEMS inertial/magnetic measurement unit, Journal of Chinese Inertial Technology, 2012, no. 5．Bebek, O., Suster, M., Rajgopal, S., and Fu, M., Personal navigation via shoe mounted inertial measurement units, International Conference on Intelligent Robots and Systems, October 2010, pp. 1052-1058.Bebek, O., Suster, M., Rajgopal, S., and Fu, M., Personal navigation via shoe mounted inertial measurement units, International Conference on Intelligent Robots and Systems, October 2010, pp. 1052-1058.Bolotin, Yu. V. and Fatehrad, M., Pedestrian inertial navigation with foot zero velocity update, 8. 22nd St. Petersburg International Conference on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2015, pp. 68-72.Bolotin, Yu. V. and Fatehrad, M., Pedestrian inertial navigation with foot zero velocity update, 8. 22nd St. Petersburg International Conference on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2015, pp. 68-72.Voloshin, D., Rybokonenko, D., and Karbovskii, V., Towards a performance-realism compromise in the development of the pedestrian navigation model, ICCS 2015, International Conference on Computational Science, 2015, pp. 2799-2803.Voloshin, D., Rybokonenko, D., and Karbovskii, V., Towards a performance-realism compromise in the development of the pedestrian navigation model, ICCS 2015, International Conference on Computational Science, 2015, pp. 2799-2803.Panyov, A. A., Smirnov, A.S., and Kosyanchuk, V.V., Indoor navigation using foot-mounted IMU aided with heterogeneous additional information, 22nd St. Petersburg International Conference on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2015, pp. 73-80.Panyov, A. A., Smirnov, A.S., and Kosyanchuk, V.V., Indoor navigation using foot-mounted IMU aided with heterogeneous additional information, 22nd St. Petersburg International Conference on Integrated Navigation Systems, St. Petersburg: Elektropribor, 2015, pp. 73-80.Zhou, W.-J., A method of automatically computing magnetic declination via the geomagnetic declination map, Engineering of Surveying and Mapping, 2007, vol. 16, no. 1, pp. 51-54.Zhou, W.-J., A method of automatically computing magnetic declination via the geomagnetic declination map, Engineering of Surveying and Mapping, 2007, vol. 16, no. 1, pp. 51-54.Chen, J.-W., Study on direct ellipse fitting algorithm, Geotechnical Investigation & Surveying, 2007, no. 6, pp. 49-51.Chen, J.-W., Study on direct ellipse fitting algorithm, Geotechnical Investigation & Surveying, 2007, no. 6, pp. 49-51.Chen, C. and Xing, D., Research of acceleration sensor signal processing based on MATLAB, Microcontroller & Embedded Systems, 2006, no. 9, pp. 16-19.Chen, C. and Xing, D., Research of acceleration sensor signal processing based on MATLAB, Microcontroller & Embedded Systems, 2006, no. 9, pp. 16-19.Liu, Ch., Yang, H., and Song, J., Research on adaptive pedometer detection algorithm, Piezoelectrics &Acoustooptics, 2015.Liu, Ch., Yang, H., and Song, J., Research on adaptive pedometer detection algorithm, Piezoelectrics &Acoustooptics, 2015.

The authors declare that there are no conflicts of interest present.