基于在线学习磁校准的行人航位推算算法

doi:10.13190/j.jbupt.2020-165

北京邮电大学学报 ›› 2021, Vol. 44 ›› Issue (3): 53-60.doi: 10.13190/j.jbupt.2020-165

基于在线学习磁校准的行人航位推算算法

白艳茹¹, 罗海勇², 曹程琳³, 王曲³, 熊昊³

1. 北京科技大学高等工程师学院, 北京 100083;
2. 中国科学院计算技术研究所, 北京 100190;
3. 北京邮电大学计算机学院, 北京 100876

收稿日期:2020-09-03 出版日期:2021-06-28 发布日期:2021-06-23
通讯作者: 罗海勇(1967-),男,副研究员,E-mail:yhluo@ict.ac.cn. E-mail:yhluo@ict.ac.cn
作者简介:白艳茹(1984-),女,工程师.
基金资助:
国家重点研发计划项目（2019YFC1511400）；国家自然科学基金项目（61872046）；北京市自然科学基金项目（4212024）；北京市自然科学基金——海淀原始创新联合基金重点研究专题项目（L192004）；内蒙古自治区关键技术攻关计划项目（2019GG328）

A Pedestrian Dead Reckoning Algorithm Based on Online Learning Magnetometer Calibration

BAI Yan-ru¹, LUO Hai-yong², CAO Cheng-lin³, WANG Qu³, XIONG Hao³

1. School of Advanced Engineering, University of Science and Technology Beijing, Beijing 100083, China;
2. Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100190, China;
3. School of Computer Science, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2020-09-03 Online:2021-06-28 Published:2021-06-23

摘要/Abstract

摘要： 目前常用的微机电系统磁传感器存在时变的软磁和硬磁误差，这些误差严重影响基于地磁的航向估计以及地磁匹配定位算法性能.利用行人正常行走过程中产生的机会性自然旋转，使用陀螺仪感知磁传感器小尺度姿态改变，构建包含多个优选磁观测对的基于余差动态加权的非线性目标代价函数，使用具有全局最优解的布谷鸟非线性优化算法在线动态估计软磁和硬磁误差.使用所提磁校准算法可降低3.09°的平均航向误差.在行人航位推算算法上进行测试，航位估计相对误差为2.09%.

关键词: 行人航位推算, 室内定位, 磁力计校准, 行人跟踪

Abstract: Currently commonly-used micro electro mechanical system magnetic sensors have time-varying soft magnetic and hard magnetic errors, which seriously affect the performance of geomagnetic-based heading estimation and geomagnetic matching positioning algorithms. Using the opportunistic natural rotation of pedestrians during normal walking, the gyroscope is used to sense the small-scale attitude changes of magnetic sensors, and a nonlinear objective cost function based on residual dynamic weighting is constructed, which contains multiple optimal magnetic observation pairs. The cuckoo nonlinear optimization algorithm with global optimal solution is used to dynamically estimate the soft and hard magnetic errors online. The average heading error of 3.09 degrees can be reduced by using the proposed magnetic calibration algorithm, and the relative error of the navigation estimation is 2.09% when tested on the pedestrian dead reckoning algorithm.

Key words: pedestrian dead reckoning, indoor positioning, magnetometer calibration, pedestrian tracking

中图分类号:

TP212.9

白艳茹, 罗海勇, 曹程琳, 王曲, 熊昊. 基于在线学习磁校准的行人航位推算算法[J]. 北京邮电大学学报, 2021, 44(3): 53-60.

BAI Yan-ru, LUO Hai-yong, CAO Cheng-lin, WANG Qu, XIONG Hao. A Pedestrian Dead Reckoning Algorithm Based on Online Learning Magnetometer Calibration[J]. Journal of Beijing University of Posts and Telecommunications, 2021, 44(3): 53-60.

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基于在线学习磁校准的行人航位推算算法

A Pedestrian Dead Reckoning Algorithm Based on Online Learning Magnetometer Calibration

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