Research on Heading Constraint Algorithm of Pedestrian Inertial Navigation

Jiasheng Cao ； Yu Liu ； Yongle Lu ； Zuwei Yao ； Quan Zhang ； Hao Zhang

《International Core Journal of Engineering》 7卷2期 (2021/02) Pp. 88-93

https://doi.org/10.6919/ICJE.202102_7(2).0011

摘要

In order to solve the problem of serious divergence of positioning results from pure inertial navigation of low-precision inertial positioning terminal, a heading constraint method for pedestrian inertial navigation is proposed to suppress the course drift of low-precision inertial positioning equipment and prolong the service life of low-precision inertial positioning terminal. The deviation between the heading angle and the main heading is used to estimate the heading angle error, and a pedestrian heading constraint algorithm model based on extended Kalman filter is established. The experimental results show that the method can effectively suppress the heading drift of the low precision inertial positioning terminal and reduce its positioning cumulative error.

關鍵字

Inertial Navigation ； Kalman Filtering ； Course Constraint

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