gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»gyroscopy-488Research ArticleСтатьиРазработка алгоритмов инерциальной навигационной системы с учетом особенностей походки человекаДэвидсонП.

Дэвидсон Павел, магистр наук, научный сотрудник. 

ТакалаЯ.

Такала Ярмо, профессор.

Технический университет ТампереFinland2013260220262118694Copyright © Дэвидсон П., Такала Я., 20262026Дэвидсон П., Такала Я.Дэвидсон П., Такала Я.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/488

Представлен новый способ коррекции по скорости инерциальной навигационной системы (ИНС) для автономной пешеходной навигации, в которой используется инерциальный измерительный модуль (ИИМ), закрепленный на теле пешехода. Предложено использовать кинетическую модель походки человека при формировании так называемого виртуального датчика скорости. Показано, как знание динамики ошибок ИНС и модели движения человека помогают ограничить рост погрешностей при вычислении горизонтальных составляющих скорости и углов наклона в ИНС. Алгоритм обработки основан на фильтре Калмана и может быть использован в реальном времени для реализации в пешеходных навигационных системах, содержащих ИИМ с тремя гиро-скопами и с тремя акселерометрами. Исследованы точностные характеристики алгоритма с использованием экспериментальных данных движения человека в закрытых помещениях. Статья по докладу на XVII Санкт-Петербургской международной конференции по инерциальным навигационным системам.

This paper presents a novel approach to INS velocity aiding in autonomous pedestrian navigation systems with body-mounted IMU. The proposed solution uses a ki-netic model of human gate as a virtual velocity sensor. In this paper we show how an understanding of INS error dynamics and knowledge of human motion help to curb the divergence of INS computed horizontal velocity and tilt errors. Heading and heading gyro drift cannot be corrected with this method and require some addi-tional procedures. This algorithm can be adapted for implementation on real-time pedestrian navigation systems equipped with 6 DOF IMU. The algorithm accuracy performance was investigated using data from indoor walking tests.

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