Abstract
Pedestrian navigation system based on Pedestrian Dead Reckoning(PDR) is an autonomous navigation system, which can determine the pedestrian current location and record pedestrian walking trajectory in real time. In this thesis, a set of PDR algorithm is designed based on MTi-G-710 GNSS / INS equipment. Firstly, the zero-crossing detection algorithm is designed as gait detection algorithm to record the pedestrian walking state. Then, on the basis of gait detection algorithm, a nonlinear step size estimation algorithm with fixed step coefficients is combined to realize high-precision stability detection of pedestrian walking distance; Finally, after comparing the magnetic heading and strapdown heading algorithms, A new method for heading measurement is designed to determine pedestrian direction, in which the magnetic heading provides initial heading and integrates strapdown heading during walking. Through the actual test of the pedestrian navigation system, the feasibility of designed PDR algorithm scheme and the superiority of fusion heading algorithm are verified.
| Original language | English |
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| Publication status | Published - 2017 |
| Event | 5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2017 - Beijing, China Duration: 2 Nov 2017 → 5 Nov 2017 |
Conference
| Conference | 5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2017 |
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| Country/Territory | China |
| City | Beijing |
| Period | 2/11/17 → 5/11/17 |
Keywords
- Gait detection
- Heading measurement step size estimation
- PDR algorithm
- Pedestrian navigation