doi:10.16186/j.cnki.1673-9787.2020040018

Received:2020/04/06

Revised:2020/05/14

Published:2021/05/15

SINS/GPS/PDR indoor and outdoor seamless navigation and positioning algorithm

ZHANG Peng1,2, WANG Shusen1,2, LI Mengwei1,2

1.Science and Technology on Electronic Test & Measurement Laboratory， North University of China ， Taiyuan  030051 ， Shanxi， China;2.Nantong Institute of Intelligent Opto-mechatronics， North University of China ，Nantong  226000 ， Jiangsu， China

Abstract:In order to solve the problems of low positioning accuracy， poor reliability and discontinuity of the single-source navigation and positioning system in various complex environments such as urban high-rise buildings ，tunnels， indoors and outdoors， a SINS/GPS/PDR indoor and outdoor seamless navigation and positioning algorithm based on GPS ， MIMU ， surface electromyographic （ SEMG ） signal sensor， and three-dimensional electronic compass was proposed. By using the SEMG sensor and the three-dimensional electronic compass for pedestrian dead reckoning， while by using strapdown inertial navigation as the main method， a multi-source information fusion model was established based on a multi-sensor assisted method， and an adaptive federated Kalman filter algorithm was designed. The walking test results showed that the method could achieve seamless indoor and outdoor navigation and positioning， and the accuracy level of multi-source fusion was better than 1.5 m （ outdoor） /2 m （indoor） ， which significantly improved the positioning accuracy and continuity.

Key words:indoor and outdoor seamless positioning;pedestrian dead reckoning;multi-source information fusion;adaptive federal Kalman filter

 SINS_GPS_PDR室内外无缝导航定位算法_张鹏.pdf