基于全區(qū)間航向誤差預(yù)測(cè)與校正的慣性行人導(dǎo)航算法研究

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關(guān)鍵詞：慣性行人導(dǎo)航；零速區(qū)間；非零速區(qū)間；航向誤差預(yù)測(cè)與校正；卡爾曼濾波 中圖分類號(hào)： V249.32+2 文獻(xiàn)標(biāo)志碼：A DOI：10.12305/j.issn.1001-506X.2025.05.28

Abstract：Aiming at the problem of heading angle divergence in inertial pedestrian navigation，an algorithm based on heading error prediction and corection across the entire area is proposed.Using the stable heading characteristics within thezero-velocity interval to calculate heading erors，and combining with the short-term stabilityof the gyroscope to predict heading errors in non-zero-velocity interval.By using Kalman filtering to comprehensively correct navigation errors，the accuracy of pedestrian navigation is significantly improved.The experimental results show that in non closed concave paths，the average navigation trajectory eror of the proposed algorithm isonly 0. 94m ，whichis 75.33% lower than the zero speed correction algorithm and 48.91% lower than the algorithm that only processes heading errors during the zero speed phase.In the 400m closed path test，the endpoint position error is only 2.53% ，and the calculated path best matched the actual motion trajectory，verifying that the proposed algorithm can significantly improve theaccuracy of pedestrian navigation.

Keywords：inertial pedestrian navigation；zero-velocity interval；non-zero-velocity interval；heading error prediction and correction；Kalman filtering

0 引言

隨著科技發(fā)展，微機(jī)電系統(tǒng)不斷成熟，微型慣性測(cè)量組件（micro inertialmeasurementunit，MIMU）得以小型化、低成本化，并保持較高的測(cè)量精度，為行人導(dǎo)航帶來(lái)革命性的變革，成為導(dǎo)航領(lǐng)域的研究熱點(diǎn)[1-4]。（剩余13162字）