소방관의 실내 측위를 위한 두 발에 장착된 보행항법장치의 입체구적 포인트 기반 위치 영역 융합

Abstract

The ZUPT (Zero-velocity UPdaTe)-based PDR (Pedestrian Dead Reckoning) mounted on the foot calculates navigation information through the INS (Inertial Navigation System) algorithm, detects the moment when the foot touches the ground through the ZVD (Zero-Velocity Detection) algorithm, and corrects the INS errors through zero-velocity correction filtering. Through this, it is possible to estimate fairly stable position information of a pedestrian. However, the accumulation of errors over time is inevitable. In this paper, we propose a technique to reduce the accumulation of errors through the fusion of PDRs mounted on both feet. After converting the position information of the two PDRs into cubature points, the body position is estimated using the points. The two PDRs are then updated using the body position information as a measurement of the filter. Here, the measurement error covariance matrix is set using the structural constraint of the body and feet to reduce the phenomenon that the position difference between the two PDRs increases over time. The performance of the proposed technique is verified through experiments.