Simulation of Zero-speed Correction Algorithm for Underground Space Individual Positioning

Authors

Yijing Wang, Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing 100192, China;
Su Zhong, Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing 100192, China;
Li Qing, Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing 100192, China;
Li Lei, Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technology University, Beijing 100192, China;

Abstract

Abstract: In view of the complex and dangerous collapse environment of the tunnel, the related safety hazards of the positioning system of the tunnel rescuer are intensively analyzed, and the simulation of the inertial device worn on the chest, waist, calf, and foot surface shows that the correction on the foot surface is the best. Focus on the error accumulation of inertial devices, according to the fact that the speed is near zero when the sole of the foot fully touches the ground during walking, the algorithm of zero-speed correction for acceleration and angular velocity is compared, and a combination of zero-speed detection and Kalman filter fusion is proposed. And the autonomous individual navigation technology suitable for underground space environment is realized. The enclosed indoor environment test data and calculation results verify, the effectiveness of the algorithm, of which the error ratio does not exceed 1%.

Recommended Citation

Wang, Yijing; Zhong, Su; Qing, Li; and Lei, Li (2021) "Simulation of Zero-speed Correction Algorithm for Underground Space Individual Positioning," Journal of System Simulation: Vol. 33: Iss. 11, Article 2.
DOI: 10.16182/j.issn1004731x.joss.21-FZ0763
Available at: https://dc-china-simulation.researchcommons.org/journal/vol33/iss11/2

First Page

2545

Revised Date

2021-08-26

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.21-FZ0763

Last Page

2551

CLC

TP391.9

Recommended Citation

Wang Yijing, Su Zhong, Li Qing, Li Lei. Simulation of Zero-speed Correction Algorithm for Underground Space Individual Positioning[J]. Journal of System Simulation, 2021, 33(11): 2545-2551.

DOI

10.16182/j.issn1004731x.joss.21-FZ0763