Personal inertial navigation system employing MEMS wearable ground reaction sensor array and interface ASIC achieving a position accuracy of 5.5m over 3km walking distance without GPS

Q. Guo, William Deng, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, D. Young
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引用次数: 7

Abstract

An accurate personal inertial navigation system under GPS-denied environment is highly critical for demanding applications such as firefighting, rescue missions, and military operations. Location-aware computation for large-area mixed reality also calls for accurate personal position tracking. Position calculation can be accomplished by using an inertial measurement unit (IMU) composed of a 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer. A gyroscope and magnetometer together can provide the orientation information, while the displacement can be obtained by integrating the acceleration data over time. A MEMS-based IMU is attractive for its small size, low power and low cost. However, such devices exhibit a limited accuracy, large offset, and time drift, which can result in an excessive position error over time. To achieve high-performance navigation, it is critical to accurately reset the IMU time-integration during each step when the foot contacts the ground. Furthermore, correcting the IMU inherent inaccuracy, bias, and time drift becomes important for improving system performance.
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采用MEMS可穿戴式地面反应传感器阵列和接口ASIC的个人惯性导航系统,在不使用GPS的情况下,在3km步行距离内实现了5.5m的定位精度
在gps拒绝环境下,精确的个人惯性导航系统对于消防、救援任务和军事行动等要求苛刻的应用至关重要。大面积混合现实的位置感知计算也需要精确的个人位置跟踪。位置计算可以通过使用由3轴加速度计、3轴陀螺仪和3轴磁强计组成的惯性测量单元(IMU)来完成。陀螺仪和磁力计可以一起提供方向信息,而位移可以通过积分随时间的加速度数据来获得。基于mems的IMU具有体积小、功耗低、成本低等优点。然而,这样的设备表现出有限的精度,大偏移和时间漂移,这可能导致过度的位置误差随着时间的推移。为了实现高性能导航,在脚接触地面的每一步中,精确地重置IMU时间积分是至关重要的。此外,纠正IMU固有的不精度、偏差和时间漂移对提高系统性能非常重要。
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