Пешеходная навигация на основе комплексирования ГНСС-приемника и МЭМС-датчиков смартфона с помощью расширенного фильтра Калмана
https://doi.org/10.17285/0869-7035.0034
Аннотация
Описывается решение задачи пешеходной навигации по данным встроенных в смартфон приемника глобальных навигационных спутниковых систем (ГНСС) и инерциальных микроэлектромеханических «датчиков» в сложных с точки зрения приема сигналов ГНСС условиях. Для реализации метода предлагается использовать технологию определения длины шага и комплексирование спутниковых и инерциальных данных с применением расширенного фильтра Калмана. Приводятся результаты обработки натурных данных, демонстрирующие эффективность метода в неблагоприятных для работы ГНСС-приемника условиях.
Ключевые слова
Об авторах
А. Рехман
Институт телеметрии и навигации, Шанхайский транспортный университет Цзяо Тун (Китай); Шанхайская лаборатория навигации и геолокационного сервиса, Шанхайский транспортный университет Цзяо Тун (Китай).
Китай
Китай
Рехман Абдул. Научный сотрудник
Х. Шахид
Факультет электроники, Фуданьский университет (Китай).
Китай
Китай
Шахид Хуснаин. Аспирант
М. А. Афзал
Шанхайская лаборатория навигации и геолокационного сервиса, Шанхайский транспортный университет Цзяо Тун (Китай).
Китай
Китай
Афзал Мухаммад Абрар. Аспирант
Х. М. А. Бхатти
Факультет информатики и вычислительной техники, Дунгуаньский университет (Китай).
Китай
Китай
Бхатти Хафиз Мухаммад Али. Студент магистратуры
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Рецензия
Для цитирования:
Рехман А., Шахид Х., Афзал М., Бхатти Х. Пешеходная навигация на основе комплексирования ГНСС-приемника и МЭМС-датчиков смартфона с помощью расширенного фильтра Калмана. Гироскопия и навигация. 2020;28(2):91-108. https://doi.org/10.17285/0869-7035.0034
For citation:
Rehman A., Shahid H., , Bhatti H. Accurate and Direct GNSS/PDR Integration Using Extended Kalman Filter for Pedestrian Smartphone Navigation. Giroskopiya i Navigatsiya. 2020;28(2):91-108. (In Russ.) https://doi.org/10.17285/0869-7035.0034
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