基于多传感器数据融合的室内行人航位推算法

摘要

针对惯性测量单元(IMU)本身存在测量漂移,很难获得精确的室内行人轨迹的问题,提出了使用多个传感器信息融合的方案,包括IMU和视频摄像头,并结合卡尔曼滤波和零速检测算法进行参数优化,以提高行人运动轨迹的精度.仿真结果表明:算法可以有效降低行人轨迹的误差.%Due to drift of measuremen of inertial measurement unit(IMU),it is difficult to get accurate trajectory of pedestrian indoor,a scheme fusing multiple sensors information is proposed,include inertial measurement unit (IMU)and vedio camera,combined Kalman filtering with zero-velocity detection algorithm for parameters optimization. The simulation results show that the algorithm can effectively reduce the error of pedestrian trajectory.