Читать книгу Pedestrian Inertial Navigation with Self-Contained Aiding - Doruk Senkal, Andrei M. Shkel - Страница 16

Between the SHS and the ZUPT‐aided strapdown inertial navigation, the latter is the more widely used approach for precision pedestrian inertial navigation. The main reasons are:

 ZUPT‐aided strapdown inertial navigation has demonstrated a better navigation accuracy compared to the SHS. For example, in a navigation with the total walking distance of 20 km, position estimation error on the order of 10 m was demonstrated, corresponding to a navigation error less than 0.1% of the total distance [24]. The navigation error for SHS, however, is typically about 1% to 2% of the total walking distance.

 ZUPT‐aided strapdown inertial navigation is more universal compared to SHS, with only one assumption that the velocity of the foot is zero during the stance phase. As a result, it can be applied to many pedestrian scenarios, such as walking, running, jumping, and even crawling. In the case of SHS, it has to classify different motion patterns, if the system has been trained with such patterns, and correspondingly fit the data to different models.

 SHS is user‐specified and needs to be calibrated or trained according to different subjects, while ZUPT‐aided strapdown inertial navigation in principle does not need any special calibration for different users.

 Even though IMU will experience high level of shock and vibration when mounted on the foot in the ZUPT‐aided strapdown inertial navigation, the developed MEMS technologies are able to reduce the disadvantageous effects. For example, it has been demonstrated that IMU with gyroscope maximum measuring range of and bandwidth of 250 Hz would be able to capture most features of the motion without causing large errors [25].

In this book, we will mainly focus on the ZUPT‐aided strapdown inertial navigation.