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随着定位导航需求的日益增加,室内外融合导航技术成为了近年来导航领域最热门的研究方向之一。针对行人导航问题,本文提出了一种基于BDS/SINS的穿戴式组合定位设备的技术方案。这个方案采用脚绑式模块,利用融合卡尔曼滤波ZUPT算法进行零速度更新消除惯导元件的累积误差。本文重点关注的是该设备的室内部分,对融合卡尔曼滤波ZUPT算法进行了理论分析、程序实现与仿真验证,并对四种零速度检测器效果进行了比较。
With the increasing demand for positioning and navigation, indoor and outdoor integrated navigation technology has become one of the hottest research directions in the navigation field in recent years. Aiming at the problem of pedestrian navigation, this paper presents a technical solution of wearable combination positioning device based on BDS / SINS. This scheme uses a foot-tied module to eliminate the cumulative error of inertial components by zero-speed update using the fusion Kalman filter ZUPT algorithm. This article focuses on the indoor part of the device, theoretical analysis of the fusion Kalman filter ZUPT algorithm, program simulation and simulation, and the effects of four kinds of zero-speed detector were compared.