基于自适应零速修正及情境融合的室内定位系统研究
Research on Indoor Positioning System Based on Adaptive ZUPT and Contextual Fusion
Abstract
在传统的全球卫星定位系统(GlobalPositioningSystem,GPS)中,由于卫星信号的传输容易受到建筑物的遮挡,所以在室内环境其可能无法定位或者定位结果产生严重的偏差。而捷联式惯性导航系统不依赖于外部信号源的特性,使其工作环境不再受限。而当今普及的智能手机普遍带有惯性传感器,使得定位不需要再额外购买器件,成本较低。然而低成本的惯性元器件本身在使用中会产生较大的误差,而由于惯性导航基于积分的基本特性,这一误差会在导航过程中不断累积,从而严重影响定位结果,使得无法长时间稳定定位。本文拟设计一种基于自适应零速修正以及情境融合算法的惯性导航室内定位系统,主要针对将惯性传感器握在手中的场景... In the traditional Global Positioning System (GPS), because the transmission of satellite signals is easily blocked by the building, it may not be able to locate well in the indoor environment. The strapdown inertial navigation system does not depend on the characteristics of the external signal source, so that its working environment is no longer limited. And today's popular smart phones are gene...