基于慣性器件的室內(nèi)定位技術(shù)的研究.pdf

1、學(xué)位論文獨(dú)創(chuàng)性聲明本人鄭重聲明：所提交的學(xué)位論文是本人在導(dǎo)師指導(dǎo)下進(jìn)行的研究工作和取得的研究成果。本論文中除引文外，所有實(shí)驗(yàn)、數(shù)據(jù)和有關(guān)材料均是真實(shí)的。本論文中除引文和致謝的內(nèi)容外，不包含其他人或其它機(jī)構(gòu)已經(jīng)發(fā)表或撰寫過的研究成果。其他同志對本研究所做的貢獻(xiàn)均己在論文中作了聲明并表示了謝意。學(xué)位論文作者簽名：球五胡日期：2形。9f≯；學(xué)位論文使用授權(quán)聲明研究生在校攻讀學(xué)位期間論文工作的知識(shí)產(chǎn)權(quán)單位屬南京師范大學(xué)。學(xué)校有權(quán)保存本學(xué)位論文的

2、電子和紙質(zhì)文檔，可以借閱或上網(wǎng)公布本學(xué)位論文的部分或全部內(nèi)容，可以采用影印、復(fù)印等手段保存、匯編本學(xué)位論文。學(xué)校可以向國家有關(guān)機(jī)關(guān)或機(jī)構(gòu)送交論文的電子和紙質(zhì)文檔，允許論文被查閱和借閱。(保密論文在解密后遵守此規(guī)定)保密論文注釋：本學(xué)位論文屬于保密論文，密級：——保密期限為——年。學(xué)位論文儲(chǔ)虢犧pJ|2I指刪撇l象蚓乙日期：y『I’盼、≥；日期：L多∥六of、≥弓AbstractAbstractThetraditionaltechnolo

3、gyoftheindoorpositioningmainlycalculatestherelativepositionbetweenthetargetobjectandseveralfixedinroomtopositionWhenthedevicefLxedonapersonorobjecttransmitstheinformationbythewireless，usingthesignalstrength，phaseandother

4、physicalreferencetopositioned，theyarehighlyinfluencedbypopulation，movingobjectsandSOonwhichcausesthedeteriorationofpositioningaccuracyButtheinertialpositioningsystemmainlymeasuresthestatusofpeopleormovingobjectstolocateT

5、heydon’tdependontheexternalinformationTheyhavestronglyindependent，relativelyhighaccuracylowpowerconsumption，smallsize，simplestructureandotheradvantages，SOtheycanbewidelyusedinsupermarkets，shoppingmalls，museums，airportsan

6、dotherthecomplexlyenvironmentofroomInrecentyears，duetoasharpincreaseindemandontheaccuratelypositioninginroom，manyscholarsbegintostudytheinertialpositioningInthispaper，studyingtwoindoorpositioningtechnologiesbasedoninerti

7、aldevicewiththetechnologyoftwointegralaccelerationpositioningandpedestriandeadreckoningstepofpositioningtoanalyzethecharacteristicsandwaysoftwotechnologiesprogramThemethodofpedestriandeadreckoningpositioninghasarelativel

8、yhighaccuracybycomparingItcanmeetthebasicrequirementsforindoorpositioningThethesisanalyzesthegaitofwalkingandtherelationshipamongsteplength，heightandstepfrequencyThetopicdescribesthedesignmethodoftherecognitionofgait，the

9、estimationofoptimalsteplength，thecorrectionofattitudeangleandpositioncalculationThethesissetsupthesystemofcircuitwhichcanachievethefunctionofpositioningThesystemincludestwopartsofhandheldcomponentandPCThehandheldcomponen

10、tincludesSTM32microcontroller，MPU6050module，HMC5983module，BluetoothmoduleanddisplayAndPCcomponentismainlyusedtoreceivepositionoftheframedatafromthelowercomputeranddisplaystrackinformationontherelevantapplicationprogramAt

11、last，thethesisanalyzesandtestestheperformanceofthesystemEmphasisandinnovationsofthisthesisareasfollows：1)StudyingtheproblemofthecumulativeerrorforcalculatingtheattitudeangleByusingtheKalmanfilter，incorporatingandcorrecti