面向室内场景的惯性磁感应定位方法

Aiming at satellite denied problem of the indoor navigation, based on the existing magnetic beacon positioning technology, this paper analyzes the characteristics of low-frequency rotating magnetic field, establishes a magnetic induction vector angle observation model that is not affected by the sensor attitude and magnetic moment information of magnetic beacon, and combines the error model of MEMS inertial navigation, proposes an inertial magnetic-induction dynamic positioning method with the sine and cosine value of the magnetic-induction vector angle as the measurement information, and the influence of magnetic sensor attitude error and magnetic moment error on positioning results is avoided. Static test is carried out using the biaxial magnetic beacon experimental system in the laboratory, and it is verified that the magnetic-induction positioning model is not affected by the sensor attitude, the shelter in the environment and the magnetic moment. The inertial magnetic-induction positioning method based on unscented Kalman filter (UKF) is verified by numerical simulation. The results show that the method can effectively suppress the divergence of inertial navigation, and the maximum position error is less than 0. 75 m, meeting the requirements of high-precision navigation and positioning in most indoor scenes.