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所属单位：自动化学院
发表刊物：Zhongguo Guanxing Jishu Xuebao
摘要：The traditional smartphone navigation algorithm based on step counting and pedestrian dead reckoning (PDR) requires the mobile phone to maintain a relatively fixed position to the human body to ensure the heading accuracy. This requirement seriously affects the user experience. In view of pedestrian navigation needs for mobile phone posture changing and high precision positioning, a heading compensation method with gravity assist (GA) and simulated zero-velocity update (S-ZUPT) is proposed to reduce the heading error. The changing of smartphone's attitude can be judged by using the data from the gravity sensor of the smartphone. Although the ZUPT algorithm can be applied in the foot-mounted low-cost inertial sensors to restrain the error divergence, it cannot be used in the handheld smartphone for there is no zero-velocity status. An S-ZUPT algorithm for improving heading accuracy is proposed to improve the heading performance by detecting pedestrian walking step, which uses the Kalman Filtering algorithm to restrain the heading divergence. The walking experiments results show that the GA and S-ZUPT algorithms-based method can autonomously judge and compensate the heading error caused by smartphone attitude. The walking error is only 1.2% with the 196m distance, which significantly improves the pedestrian positioning accuracy. © 2018, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
卷号：26
期号：3
页面范围：289-294
ISSN号：1005-6734
是否译文：否
发表时间：2018-06-01
收录刊物：EI