13599.基于footmounted的imu室內(nèi)行人航跡推算研究(1)

1、學(xué)位論文獨(dú)創(chuàng)性聲明學(xué)位論文獨(dú)創(chuàng)性聲明本人聲明所呈交的學(xué)位論文是本人在導(dǎo)師指導(dǎo)下進(jìn)行的研究工作及取得的研究成果。據(jù)我所知，除了文中特別1／Ju以標(biāo)注和致謝的地方外，論文中不包含其他人已經(jīng)發(fā)表或撰寫過的研究成果，也不包含為獲得直墾太堂或其他教育機(jī)構(gòu)的學(xué)位或證書而使用過的材料。與我一同工作的同志對本研究所做的任何貢獻(xiàn)均已在論文中作了明確的說明并表示謝意。學(xué)位論文儲簽名(手寫)：歙，砂簽字日期：羽)多年歹月卜學(xué)位論文版權(quán)使用授權(quán)書本學(xué)位論文作者

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3、(保密的學(xué)位論文在解密后適用本授權(quán)書)學(xué)位論文作者簽名(手寫)：從2，導(dǎo)師簽名(手寫)：研私簽字日期：加7聲歲月弓JIEI簽字日期：∞l弓年廠月弓f諺AbstractABSTRACTWiththerapiddevelopmentofmodemscienceandtechnologypeoplehasthegraterequiresofpositioningandnavigationincreasinglyespeciallyinindo

4、orenvironment，suchasmarket、library、parkingareaandmine，whichusuallyneedstealizethepositioninformationofusersordevicesrapidlyandaccuratelyHoweverasradiopropagationisaffectedbyfade、multipathanddisturbincomplexindooritisdiff

5、iculttoensuretheaccuracyandstabilityofcollectedsignalcharacteristicsTherefore，thepositioningtechnologiesbasedonsomewirelessnetworks(suchasWiFiandZigBeelcan’tcurrentlyguaranteethepositionprecisionsteadilyandrightlyinallen

6、vironmentInertialMeasureUnit(IMU)isautonomousandfreefromtheoutsideinfluence，SOthatitattractsextensiveattentionsandintensiveresearchinnavigationfieldsInthispaperthethemeisIMUindoorPedestrianDeadReckoning(PDR)Mainresearchi

7、sthetheory、simulationandperformanceanalysisofMicro—ElectroMechanicalSystems(MEMS)IMUindoorPDRalgorithm，whichismainlyfocusedonthefollowingthreeaspects：1MEMSIMUinitialalignment：ithasagreatimportantplaceinnavigationalgorith

8、m，whichwilldirectlyaffecttheaccuracyofnavigationparametersAsthehardwareperformancelimitationofMEMSIMU，ithaslowalignmentprecision、析thMEMSIMUaloneespeciallyinheadingSointhispaperamethodisdiscussedbasedoninformationfusionof

9、magnetometersensorandMEMSIMU，andcompletesMEMSIMUinitialalignment；2Pedestrianmotionmodel：IMUstanceisthekeyissuesinindoorPDRalgorithm，whichdeterminestheusingofobservationaccmatelyinExtendedKalmanFilter(EKF)Therefore，pedest

10、rianmotionmodelispresented淅tllaccelerometersandgyroscopesforIMUstancedetectioneffectivelyinthispaperItestimatestheerrorsofnavigationparametersandsensorsexactlyandcompensatesinstantlybasedonfoot—mountedandEKFwhendetectedI