| Autor: |
Tianyu Chen, Gongliu Yang, Qingzhong Cai, Zeyang Wen, Wenlong Zhang |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Sensors, Vol 22, Iss 1, p 209 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
1424-8220 |
| DOI: |
10.3390/s22010209 |
| Popis: |
Pedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU). However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the sampling time of gyros and accelerometers completely synchronous. The gyro-accelerometer asynchronous time affects the positioning of PNS. To solve this problem, a new error model of gyro-accelerometer asynchronous time is built. The effect of gyro-accelerometer asynchronous time on pedestrian navigation is analyzed. A filtering model is designed to calibrate the gyro-accelerometer asynchronous time, and a zero-velocity detection method based on the rate of attitude change is proposed. The indoor experiment shows that the gyro-accelerometer asynchronous time is estimated effectively, and the positioning accuracy of PNS is improved by the proposed method after compensating for the errors caused by gyro-accelerometer asynchronous time. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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