伴随微电子技术迅猛发展，导航技术的应用领域已渐渐从军事化转向了商用化。近几年，室内导航技术得到了大力发展，受到了越来越多企业和民众的重视。但现有的室内定位系统多是基于基础设施实现，其缺点非常明显：需要提前在需要导航定位的环境中安装大量外部设备，投入成本不菲，且精度仍有待提高。本文拟设计一种基于自身传感器的行人导航系统来解决上述缺陷。 捷联式惯性导航技术不仅可以避免需要外设、投入高等缺陷，并且在短时间定位精度相当高，但随着时间的推移，其存在累积的漂移误差。针对这一点，本文基于卡尔曼滤波设计出一种有效补偿累积误差的算法。首先，通过捷联式惯性计算模块对惯性测量信息进行积分解算，由角速度积分求解出姿...With rapid development of microelectronics technology, the application area of navigation technology gradually shifted from military to the public. Indoor positioning technology is developing dramatically in recent years, attracting more and more attention from enterprises and the public. However, the disadvantage of currently existing indoor positioning system is obvious. Because most of these sy...学位：工程硕士院系专业：信息科学与技术学院_集成电路学号：2312011115301

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Xiamen University Institutional Repository

  学校编码：10384                         分类号         密级           学号：23120111153013                                    UDC                  硕  士  学  位  论  文    基于 MEMS 传感器的高精度行人导航算法研究 Research of High-accuracy Pedestrian Navigation Algorithm Based on MEMS Sensors    指导教师姓名： 周剑扬      副教授 郑灵翔      高级工程师 专  业 名 称： 集成电路工程 论文提交日期： 2014   年    4    月 论文答辩时间： 2014   年    5    月 学位授予日期： 2014   年         月   答辩委员会主席：               评    阅    人：                2014年  月 厦门大学博硕士论文摘要库厦门大学博硕士论文摘要库   厦门大学学位论文原创性声明  本人呈交的学位论文是本人在导师指导下,独立完成的研究成果。本人在论文写作中参考其他个人或集体已经发表的研究成果，均在文中以适当方式明确标明，并符合法律规范和《厦门大学研究生学术活动规范（试行）》。 另外，该学位论文为（                            ）课题（组）的研究成果，获得（               ）课题（组）经费或实验室的资助，在（               ）实验室完成。（请在以上括号内填写课题或课题组负责人或实验室名称，未有此项声明内容的，可以不作特别声明。）  声明人（签名）：           年   月   日    厦门大学博硕士论文摘要库厦门大学博硕士论文摘要库   厦门大学学位论文著作权使用声明  本人同意厦门大学根据《中华人民共和国学位条例暂行实施办法》等规定保留和使用此学位论文，并向主管部门或其指定机构送交学位论文（包括纸质版和电子版），允许学位论文进入厦门大学图书馆及其数据库被查阅、借阅。本人同意厦门大学将学位论文加入全国博士、硕士学位论文共建单位数据库进行检索，将学位论文的标题和摘要汇编出版，采用影印、缩印或者其它方式合理复制学位论文。 本学位论文属于： （     ）1.经厦门大学保密委员会审查核定的保密学位论文，于   年  月  日解密，解密后适用上述授权。 （     ）2.不保密，适用上述授权。 （请在以上相应括号内打“√”或填上相应内容。保密学位论文应是已经厦门大学保密委员会审定过的学位论文，未经厦门大学保密委员会审定的学位论文均为公开学位论文。此声明栏不填写的，默认为公开学位论文，均适用上述授权。）                               声明人（签名）： 年   月   日  厦门大学博硕士论文摘要库厦门大学博硕士论文摘要库摘    要 I 摘    要 伴随微电子技术迅猛发展，导航技术的应用领域已渐渐从军事化转向了商用化。近几年，室内导航技术得到了大力发展，受到了越来越多企业和民众的重视。但现有的室内定位系统多是基于基础设施实现，其缺点非常明显：需要提前在需要导航定位的环境中安装大量外部设备，投入成本不菲，且精度仍有待提高。本文拟设计一种基于自身传感器的行人导航系统来解决上述缺陷。 捷联式惯性导航技术不仅可以避免需要外设、投入高等缺陷，并且在短时间定位精度相当高，但随着时间的推移，其存在累积的漂移误差。针对这一点，本文基于卡尔曼滤波设计出一种有效补偿累积误差的算法。首先，通过捷联式惯性计算模块对惯性测量信息进行积分解算，由角速度积分求解出姿态信息，通过四元数法对加速度进行坐标转换，而后积分求解出速度信息，再二次积分求解出位置信息；然后，由零速检测模块通过三条件判断法对行人步行时的“零速度”阶段进行检测，当检测到“零速度”时触发卡尔曼滤波模块；最后，将捷联式惯性计算后的速度向量作为量测值，使用卡尔曼滤波来估计系统状态误差，通过求解出的速度估计协方差，对状态误差估计进行分段，融入后向固定区间平滑技术，进一步调整状态误差估计及其协方差矩阵，前向反馈校正行人位置、速度和姿态信息；同时，扩充了卡尔曼滤波状态模型，加入加速度计和陀螺仪的零偏误差信息，通过反馈校正惯性测量信息，进一步消除系统漂移误差，最终实现了室内环境的行人定位导航。 在上述误差补偿算法的基础上，本文设计了一种行人导航系统，通过多组实验仿真验证，在 500 m 路程内，该行人导航系统收敛在稳定状态，定位精度保持在 1 m 之内，实现了高精度的定位目标。 本文设计的行人导航系统，为基于自身传感器的室内定位提供了一种简单而有效的方法，可以进一步融合完善，并推广应用到智能家居、火场救援、超市购物、车库停车等诸多场景之中。  关键字：捷联式惯性导航；卡尔曼滤波；固定区间平滑 厦门大学博硕士论文摘要库厦门大学博硕士论文摘要库Abstract III Abstract With rapid development of microelectronics technology, the application area of navigation technology gradually shifted from military to the public. Indoor positioning technology is developing dramatically in recent years, attracting more and more attention from enterprises and the public. However, the disadvantage of currently existing indoor positioning system is obvious. Because most of these systems are based on infrastructure implementation, a large number of external devices should be installed in advance in navigation environment resulting in a high initial cost. In the meanwhile, the precision of these systems are waiting to be improved. In order to solve these problems, this paper will design a kind of inertial navigation system based on its sensors. Strap-down inertial navigation technology not only can avoid the defects mentioned above, but also can greatly improves the accuracy of positioning. Nevertheless, as time goes on, the system would generate an accumulated drift error. Adjusting this problem, this paper designs a kind of algorithm to effectively compensate the accumulated error based on Kalman filter. First of all, the system uses strap-down inertial calculation module to calculate the integral of inertial measurement information, meaning that the system gets attitude information from the integral of angular velocity, and transforms the coordination of acceleration through quaternion method, and gets velocity information from the integral of acceleration, and then using quadratic integral to get the position information. Secondly, the system uses the zero-velocity detection module to detect whether the pedestrians are under the zero-velocity phase through three-condition judgment method. The Kalman filter module is triggered when detects the zero-velocity phase. Finally, the system uses velocity vector calculated in the strap-down inertial calculation as measurement value and calculates the estimation of system state error by Kalman filter, then uses the covariance of the 厦门大学博硕士论文摘要库Abstract IV velocity estimation through forward Kalman filter to segregates the state error estimation, and further adjusts state error estimation and its covariance matrix with the backward fixed-interval smoothing technique. In the end, the system adjusts the position, velocity and attitude information of pedestrians by forward feedbacks. In addition, the author expanded Kalman filter state model by adding the zero-bias information from the accelerometer and gyroscope. This improvement further eliminated system drift error because of the feedbacks and adjustments of the inertial measurement information. After that, the system achieves the pedestrians positioning and navigation in the indoor environment. On the basis of the above error compensation algorithm, this paper designed a pedestrian navigation system, it converge to a stable state and its position accuracy is less than 1 meter within 500 meter-long road through the experimental simulation. This system achieves the positioning target of high precision. Pedestrian navigation system designed in this paper provides a simple and effective method to the indoor positioning based on sensors, which can be further integrated, improved, and applied in environments like smart home, fire rescue, shopping mall, and parking in the garage.  Key words: Strap-down Inertial Navigation System; Kalman Filter; Fixed-interval Smoothing   厦门大学博硕士论文摘要库目    录 V 目   录  摘    要 ..................................................................................................................... I ABSTRACT ............................................................................................................... III 第 1 章 绪论 .......................................................................................................... 1 1.1 项目背景和研究意义 ......................................... 1 1.2 室内定位技术的国内外研究现状 ............................... 2 1.2.1 基于基础设施的导航定位技术 ..................................................................... 3 1.2.2 基于自身传感器的导航定位技术 ................................................................ 5 1.3 论文的主要内容和架构 ....................................... 7 1.3.1 论文的主要内容 ................................................................................................. 7 1.3.2 论文的组织架构 ................................................................................................. 8 第 2 章 惯性导航系统的基本理论 ................................................................ 9 2.1 概述 ...................................................... 9 2.2 常用坐标系及其转换关系 .................................... 11 2.2.1 各坐标系的定义 ...............................................................................................11 2.2.2 各坐标系之间的转换关系 ............................................................................13 2.3 惯性导航系统的姿态更新算法 ................................ 15 2.3.1 姿态更新算法的比较 ......................................................................................15 2.3.2 四元数法（四参数法） .................................................................................16 2.4 捷联式惯性计算 ............................................ 20 2.4.1 姿态信息的获取 ...............................................................................................20 2.4.2 位置、速度信息的获取 .................................................................................21 2.5 惯性导航系统的误差分析 .................................... 23 厦门大学博硕士论文摘要库目    录 VI 2.6 本章小结.................................................. 24 第 3 章 行人导航系统方案设计 ................................................................... 25 3.1 概述 ..................................................... 25 3.2 惯性计算模块设计 .......................................... 26 3.3 零速修正模块设计 .......................................... 27 3.3.1 零速修正技术 ....................................................................................................27 3.3.2 零速检测算法设计 ...........................................................................................27 3.4 卡尔曼滤波模块设计 ........................................ 28 3.4.1 卡尔曼滤波动态系统模型 ............................................................................28 3.4.2 离散卡尔曼滤波方程 ......................................................................................30 3.4.3 卡尔曼滤波算法设计 ......................................................................................32 3.5 固定区间平滑模块设计 ...................................... 35 3.5.1 Rauch-Tung-Striebel 平滑算法 ....................................................................35 3.5.2 RTS 平滑算法设计 ............................................................................................36 3.6 本章小结.................................................. 37 第 4 章 行人导航系统实验仿真及分析 ..................................................... 39 4.1 概述 ..................................................... 39 4.2 行人导航系统的硬件介绍 .................................... 40 4.2.1 数据采集系统 ....................................................................................................40 4.2.2 MEMS 传感器参数配置 ...................................................................................41 4.3 行人导航系统模块仿真及分析 ................................ 41 4.3.1 捷联式惯性计算仿真及分析 ........................................................................41 4.3.2 零速检测仿真及分析 ......................................................................................43 4.3.3 卡尔曼滤波仿真及分析 .................................................................................45 4.3.4 固定区间平滑仿真及分析 ............................................................................53 4.4 行人导航系统集成实验仿真及分析 ............................ 59 4.5 本章小结.................................................. 60 厦门大学博硕士论文摘要库目    录 VII 第 5 章 总结与展望 .......................................................................................... 61 5.1 本文工作总结 .............................................. 61 5.2 后期工作展望 .............................................. 62 参考文献 .................................................................................................................. 63 致谢语....................................................................................................................... 69      厦门大学博硕士论文摘要库厦门大学博硕士论文摘要库Contents IX Contents  Abstract in Chinese .................................................................................................. I Abstract in English ................................................................................................ III Chapter 1 Preface .................................................................................................... 1 1.1 Research Background and Significance ....................... 1 1.2 Research Status at Home and Abroad ......................... 2 1.2.1 Based on the Infrastructure ............................................................................ 3 1.2.2 Based on the Infrastructure-free ................................................................... 5 1.3 Main Contents and Structure of this Thesis ................. 7 1.3.1 Main Contents of This Thesis .......................................................................... 7 1.3.2 Structure of This Thesis .................................................................................... 8 Chapter 2 The Basic Theory of Inertial Navigation System ....................... 9 2.1 Introduction .............................................. 9 2.2 Coordinate System and Its Transformation Relations ........ 11 2.2.1 Coordinate System ............................................................................................11 2.2.2 Transformation Relations ..............................................................................13 2.3 The Attitude Update Algorithm of SINS ..................... 15 2.3.1 The Comparison of Attitude Update Algorithm.....................................15 2.3.2 Quaternion(Four Parameters) .....................................................................16 2.4 Strapdown Inertial Calculation ............................ 20 2.4.1 Attitude Information ........................................................................................20 2.4.2 Position and Speed Information ..................................................................21 2.5 The Error Analysis of SINS ............................... 23 厦门大学博硕士论文摘要库Contents X 2.6 Chapter Summary .......................................... 24 Chapter 3 The Project Design of Pedestrian Navigation System ............ 25 3.1 Introduction ............................................. 25 3.2 The Design of Strapdown Inertial Calculation Module ....... 26 3.3 The Design of ZUPT Module ................................ 27 3.3.1 Zero-velocity Update Technology ...............................................................27 3.3.2 The Design of Zero-velocity Detection ......................................................27 3.4 The Design of Kalman Filter Module ........................ 28 3.4.1 Kalman Filter Dynamic System Model ......................................................28 3.4.2 Discrete Kalman Filter Equations ...............................................................30 3.4.3 The Design of Kalman Filter Algorithm ....................................................32 3.5 The Design of Fixed-interval Smoothing Module ............. 35 3.5.1 Rauch-Tung-Striebel Smoothing Algorithm ...........................................35 3.5.2 The Design of RTS Smoothing Algorithm .................................................36 3.6 Chapter Summary .......................................... 37 Chapter 4 PNS experimental Simulation and Analysis .............................. 39 4.1 Introduction ............................................. 39 4.2 Hardware Introduction of PNS.............................. 40 4.2.1 Data Acquisition System .................................................................................40 4.2.2 MEMS Sensor Configurations .......................................................................41 4.3 The Simulation and Analysis of PNS Module ................. 41 4.3.1 Strapdown Inertial Calculation ....................................................................41 4.3.2 Zero-velocity Detection ...................................................................................43 4.3.3 Kalman Filter ......................................................................................................45 4.3.4 Fixed-interval Smoothing ...............................................................................53 4.4 The Simulation and Analysis of Integrated PNS Experiments . 59 4.5 Chapter Summary .......................................... 60 厦门大学博硕士论文摘要库Degree papers are in the “Xiamen University Electronic Theses and Dissertations Database”. Fulltexts are available in the following ways: 1. If your library is a CALIS member libraries, please log on http://etd.calis.edu.cn/ and submitrequests online, or consult the interlibrary loan department in your library. 2. For users of non-CALIS member libraries, please mail to etd@xmu.edu.cn for delivery details.厦门大学博硕士论文摘要库

Research of High-accuracy Pedestrian Navigation Algorithm Based on MEMS Sensors

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Research of High-accuracy Pedestrian Navigation Algorithm Based on MEMS Sensors

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