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Research on Integrated Navigation Technology of the Pedestrian Navigation System Based on MIMU/GPS/Magnetometer

Author: LiuFengLi
Tutor: SunFeng
School: Harbin Engineering University
Course: Precision instruments and machinery
Keywords: MIMU/GPS/magnetometer pedestrian navigation system hidden markov model zero velocity detection zero velocity correction
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Type: Master's thesis
Year: 2013
Downloads: 53
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Abstract


It has been a wide range of applications for GPS in outdoor positioning, but for indoorenvironment where people active frequently the signal of GPS is too weak or absent to realizepositioning. At present, foreign countries have been carried out extensive research for indoorpositioning technology, however, China has just started, thus Indoor Positioning System (IPS)is the future development trend of navigation and positioning, it will bring a lot ofconvenience to people’s life, but how to achieve the real-time precise positioning is the keypoint of indoor positioning technology.Therefore, realizing low-cost, high-precision indoorpositioning function will be as the focal point, this paper will research the pedestriannavigation system based on MIMU/GPS/magnetometer which can realize the positioningtechnology of indoor and outdoor.For the Micro Iinertial Navigation System MIMU as the research object, this paperdetailed deduces and establishes its position error equation, attitude error equation andvelocity error equation.Paper also studies the basic principle and analyzes the error of otherauxiliary sensors GPS and magnetometer in order to improve the positioning accuracy of thesystem.The multi-sensor information fusion technology for MIMU, GPS and magnetometer canbe realized by the Kalman filter. After the introduction of basic equations of the Kalman filterand calculation steps, the theory of Kalman will be applied in the MIMU/GPS/magnetometercombination system. The state equation and measurement equation of the Kalman areestablished through the derivation and analysis, which establish a theoretical model for therealization of pedestrian navigation system outdoor positioning function.For indoor positioning function, this paper puts forward a new method based onMIMU/magnetometer and combined with zero velocity correction technology to achievepedestrian navigation system indoor positioning function. The zero velocity detection method isestablished by introducing the Hidden Markov Model (HMM) and combined with themovement of people footsteps walking motion characteristics. This zero velocity detectionmethod is superior then other zero velocity detection methods proved by the simulation andanalyzed.Using zero velocity detection technology, and designing the improved Kalman filter, thevelocity error, position error and attitude error can be effective correction under thecombination mode of MIMU/magnetometer, so as to ensure indoor positioning accuracy of pedestrian navigation system.Finally, the theory of this paper is verified through simulation and test.The simulationresults show that, under the MIMU/GPS/magnetometer combination mode of individualnavigation system outdoor location has a high precision; For the MIMU/magnetometercombination mode of individual navigation system indoor positioning function, the test resultsshow that system has a good location effect in a short time, the errors of velocity, position andattitude have been controlled effectively which can meet the individual system indoor locatinguse requirement in a short time.

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