系统仿真学报 ›› 2021, Vol. 33 ›› Issue (11): 2545-2551.doi: 10.16182/j.issn1004731x.joss.21-FZ0763

• 仿真建模理论与方法 • 上一篇    下一篇

地下空间单兵定位零速修正算法仿真研究

王一静, 苏中, 李擎, 李磊   

  1. 北京信息科技大学 高动态导航技术北京重点实验室,北京 100192
  • 收稿日期:2021-06-14 修回日期:2021-08-26 出版日期:2021-11-18 发布日期:2021-11-17
  • 通讯作者: 苏中(1962-),男,博士,教授,研究方向为盲环境导航、智能导航与应用、高动态导航等。E-mail:sz@bistu.edu.cn
  • 作者简介:王一静(1997-),女,硕士生,研究方向为高动态导航等。E-mail:yjing1227@163.com
  • 基金资助:
    国家重点研发计划(2020YFC1511702); 国家自然科学基金(61771059,61801032); 北京市自然科学基金(4212003); 高动态导航技术北京市重点实验室资助(42112003); 现代测控技术教育部重点实验室资助

Simulation of Zero-speed Correction Algorithm for Underground Space Individual Positioning

Wang Yijing, Su Zhong, Li Qing, Li Lei   

  1. Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing 100192, China
  • Received:2021-06-14 Revised:2021-08-26 Online:2021-11-18 Published:2021-11-17

摘要: 针对隧道复杂而危险的坍塌环境,对隧道救援人员定位系统的相关安全隐患进行深入分析,对于惯性器件佩戴在胸前、腰上、小腿、脚面等进行仿真研究,发现在脚面的修正效果更好。由于惯性器件装置的误差积累问题,根据人行走过程中脚底完全接触到地面时速度基本为零这一特点,对比了加速度和角速度零速修正的算法,提出组合零速检测和卡尔曼滤波融合的零速修正,实现自主式适用于地下空间环境下的单兵导航技术。通过封闭室内环境测试数据及计算结果,验证了算法的有效性,误差比不超过1%。

关键词: 灾害环境, 惯性器件, 卡尔曼滤波, 零速修正, 行人导航

Abstract: In view of the complex and dangerous collapse environment of the tunnel, the related safety hazards of the positioning system of the tunnel rescuer are intensively analyzed, and the simulation of the inertial device worn on the chest, waist, calf, and foot surface shows that the correction on the foot surface is the best. Focus on the error accumulation of inertial devices, according to the fact that the speed is near zero when the sole of the foot fully touches the ground during walking, the algorithm of zero-speed correction for acceleration and angular velocity is compared, and a combination of zero-speed detection and Kalman filter fusion is proposed. And the autonomous individual navigation technology suitable for underground space environment is realized. The enclosed indoor environment test data and calculation results verify, the effectiveness of the algorithm, of which the error ratio does not exceed 1%.

Key words: disaster environment, inertial device, kalman filter, zero-speed correction, pedestrian navigation

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