Heuristic Drift Elimination for Personnel Tracking Systems
Heuristic Drift Elimination for Personnel Tracking Systems
复制标题
DOI：
10.1017/s0373463310000184
复制
发表时间：
2010-10-01
影响因子：
2.4
通讯作者：
Ojeda, Lauro
中科院分区：
文献类型：
--
作者：
Borenstein, Johann;Ojeda, Lauro
本文涉及减少用于跟踪、记录或监视室内行走的人的位置的速率陀螺中的测量误差的影响。在这些应用中，偏置漂移和其他陀螺仪误差会在几分钟内降低精度。为了克服这个问题，我们开发了启发式漂移消除（H DE）方法，有效地纠正偏置漂移和其他缓慢变化的错误。HDE的工作原理是假设在结构化的室内环境中行走。本文解释了启发式假设和FIDE方法，并显示实验结果。在典型的应用中，HDE在无限持续时间的行走中保持接近零的航向误差。
This paper pertains to the reduction of the effects of measurement errors in rate gyros used for tracking, recording, or monitoring the position of persons walking indoors. In such applications, bias drift and other gyro errors can degrade accuracy within minutes. To overcome this problem we developed the Heuristic Drift Elimination (H DE) method, that effectively corrects bias drift and other slow-changing errors. HDE works by making assumptions about walking in structured, indoor environments. The paper explains the heuristic assumptions and the FIDE method, and shows experimental results. In typical applications, HDE maintains near-zero heading errors in walks of unlimited duration.