Читать книгу Pedestrian Inertial Navigation with Self-Contained Aiding - Doruk Senkal, Andrei M. Shkel - Страница 22

The topic of this book is about the pedestrian inertial navigation and related self‐contained aiding techniques. In Chapter , we first introduce the technological basis of inertial navigation – inertial sensors, and IMUs. Their basic principles of operation, technology background, and state‐of‐the‐art are included. Next, in Chapter , basic implementation and algorithm of strapdown inertial navigation are presented as a basis of the following analysis. Then, we demonstrate how the navigation errors are accumulated in the navigation process in Chapter , with a purpose of pointing out the importance of aiding in the pedestrian inertial navigation. Chapter introduces one of the most commonly used aiding technique in pedestrian inertial navigation: ZUPT aiding algorithm. It is followed by an analysis on navigation error propagation in the ZUPT‐aided pedestrian inertial navigation in Chapter , relating the navigation error to the IMU errors. Chapter presents some of the limitations of the ZUPT‐aided pedestrian inertial navigation, and methods have been proposed and demonstrated to be able to reduce the majority part of the errors caused by the ZUPTs. Chapter discusses efforts in improving the adaptivity of the pedestrian inertial navigation algorithm. Approaches including ML and Multiple‐Model (MM) methods are introduced. Chapter discusses other popular self‐contained aiding techniques, such as magnetometry, barometry, computer vision, and ranging techniques. Different ranging types, mechanisms, and implementations are covered in this chapter. Finally, in Chapter , the book concludes with a technological perspective on self‐contained pedestrian inertial navigation with an outlook for development of the Ultimate Navigation Chip (uNavChip).