A method of inertial integrated navigation based on low cost MEMS sensors

Abstract

With the rapid development of computer technology and communication technology, pedestrian navigation system(PNS) began to enter the real practical stage. PNS is a method of track reckoning based on strapdown inertial navigation system. However, inertial navigation system is prone to error accumulation with time, resulting in low positioning accuracy and practicability. Low cost inertial measurement unit(IMU) device has low accuracy, and the inertial navigation system has accumulated error, and the system is easy to diverge. Apart from those above, civil GPS accuracy is not stable, and poor GPS signal in a multipath environment may lead to errors, and GPS signals can not be used indoors. It is necessary to design a kind of navigation method to adapt low cost IMU. In this paper, it is presented that a foot inertial navigation system which is based on low cost MEMS inertial sensors is presented. According to the characteristics of pedestrian zero-velocity during walking steady state, an inertial navigation method based on Zero Velocity Update (ZUPT) is adopted. This paper uses air pressure, GPS to assist ZUPT method to correcting navigation parameters through Kalman filter. Based on the implementation scheme of pedestrian navigation system proposed in this paper, the steady state of walking were experimentally verified through the actual test data. The experimental results show that the proposed method can provide efficient, reliable and continuous position and navigation services.