CAJ | 학술논문

为了限制惯导误差的增长，根据人行走的规律提出了一种基于个人的多种步态模式下的伪自适应阈值零速检测法.通过加速度方差和陀螺模值的平方和作为检测依据，设置一个滑动的时间窗口来判断行人的运动模式，以此来自调节阈值的大小，对跑、走、台阶等运动模式都具有稳定可靠的检测效果.由于航向角不可观测，无法使用卡尔曼零速修正算法对航向角进行修正.采用融合室内地图的粒子滤波算法使穿越墙壁的粒子权重为零，对于大误差数据，通过自适应重采样的方法来有效避免粒子的严重退化现象.实验结果表明：速度在3m/s内零速检测的准确率达到97%以上.采用融合室内地图的粒子滤波算法后，正常行走约210 m的距离室内定位误差从原来的2.3 m降低到0.2 m.
위료한제관도오차적증장，근거인행주적규률제출료일충기우개인적다충보태모식하적위자괄응역치령속검측법.통과가속도방차화타라모치적평방화작위검측의거，설치일개활동적시간창구래판단행인적운동모식，이차래자조절역치적대소，대포、주、태계등운동모식도구유은정가고적검측효과.유우항향각불가관측，무법사용잡이만령속수정산법대항향각진행수정.채용융합실내지도적입자려파산법사천월장벽적입자권중위령，대우대오차수거，통과자괄응중채양적방법래유효피면입자적엄중퇴화현상.실험결과표명：속도재3m/s내령속검측적준학솔체도97%이상.채용융합실내지도적입자려파산법후，정상행주약210 m적거리실내정위오차종원래적2.3 m강저도0.2 m.
To limit error growth of the indoor navigation system ( INS ) , according to the walking regulars, based on personal multi-gait modes, a zero velocity detection of pseudo-adaptive threshold value was studied. Through the acceleration variance and the sum of the squares of the gyro modulus value as a test basis, a sliding time window was set to determine the movement patterns for adjusting the size of the threshold, and the testing results was stable and reliable for run, walk and step. Because the course angle is unobserved, the Kalman zero velocity correction algorithm cannot modify the course angle. Using the particle filter algorithm of fusing indoor maps, the particle weight across the wall is zero. For larger error data, the particle degeneration phenomenon can be effectively avoided by using the method of adaptive resampling. The experimental results show that when the speed is within 3 m/s, the zero velocity detection accuracy attains more than 97%. After using the particle filter algorithm of fusing indoor maps, about 210 m distance to walk normally, the indoor positioning error decreases from the original 2.3 m down to 0.2 m.