Pedestrian Autonomous Positioning System Based on Inertial Navigation

Under the background of mobile Internet era, the application requirements of indoor positioning technology is increasingly urgent, and accurate positioning information has become an important prerequisite and guarantee for the successful completion of various tasks. Since GNSS faces problems such as wireless signal attenuation and positioning accuracy degradation in a complex indoor environment, an autonomous positioning system based on the strapdown inertial navigation principle has become an important way to obtain position information in complex environments. Aiming at the requirements of wearable, miniaturization and accurate positioning of the autonomous positioning system, this paper carried out the structure and autonomous positioning algorithm design. An algorithm structure combining complementary filtering attitude solution, zero-speed detection and zero-speed update was proposed, the system miniaturization structure design and low-power power management strategy were also studied. The system can complete all-weather, full-area, high-concealment three-dimensional real time positioning. Experimental results show that the system’s autonomous positioning accuracy is within 6‰ of the walking distance.