基于惯性/磁力传感器的行人3维轨迹跟踪技术

doi:10.13973/j.cnki.robot.2016.0444

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引用本文:
郑威, 彭刚. 基于惯性/磁力传感器的行人3维轨迹跟踪技术[J]. 机器人, 2016, 38(4): 444-450.DOI: 10.13973/j.cnki.robot.2016.0444. ZHENG Wei, PENG Gang. 3D Pedestrian Trajectory Tracking Based on Inertial/Magnetic Sensors. ROBOT, 2016, 38(4): 444-450. DOI: 10.13973/j.cnki.robot.2016.0444.

摘要为实现行人3维轨迹跟踪，采用惯性测量单元和电子罗盘组成的导航模块，固联于步行者鞋面上，根据行人步行运动的周期特性，结合四元数法和改进的航姿参考系统算法对步行姿态角尤其是航向角进行高精度估计．在分析速度误差产生原因的基础上，提出一种新的零速度校正技术，并利用行人垂直方向的步行速度判断步行状态，对高度进行补偿，实现了对行人3维轨迹的高精度跟踪．通过直线往返行走、矩形线路行走、上下楼梯等实验，验证了本文方法的有效性和可行性，实验中2维轨迹精度在0.5m左右，3维轨迹精度在1m左右．

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关键词 ：航向角误差校正, 零速度校正, 轨迹跟踪, 惯性导航

Abstract：To achieve 3D pedestrian trajectory tracking, a navigation block tied to the walkers' shoes is used, which combines inertial measurement unit (IMU) and electronic compass to track pedestrian trajectory. Regarding the characteristics of pedestrian movement cycle, an improved Attitude and Heading Reference System (AHRS) algorithm with quaternion is considered to accurately estimate the walking attitude, and especially the heading. After analyzing kinds of reasons for velocity errors, a new zero velocity updata algorithm is developed. Height compensation is realized through judging pedestrian walking state according to the vertical walking speed, and thus 3D pedestrian trajectory is accurately tracked. Some experiments are conducted to demonstrate the effectiveness and feasibility of the proposed method, including straight line round-trip walking, rectangle line walking, and walking up-and-down stairs. In the experiments, the deviation of the 2D trajectory is about 0.5 m and the deviation of the 3D trajectory is about 1 m.

Key words： heading error calibration zero velocity updata trajectory tracking inertial navigation

收稿日期: 2016-05-12 录用日期: 2016-06-22

ZTFLH:

TP212

通讯作者: 彭刚，penggang@hust.edu.cn E-mail: penggang@hust.edu.cn

作者简介: 郑威（1992-），男，硕士生．研究领域：机器人与智能制造，嵌入式系统与软件开发．
彭刚（1973-），男，博士，副教授．研究领域：机器人与智能制造，嵌入式系统与软件开发，生产制造执行系统，电力电子与功率变换．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0444 或 https://robot.sia.cn/CN/Y2016/V38/I4/444

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