Non-GPS navigation for security personnel and first responders
Non-GPS navigation for security personnel and first responders
复制标题
DOI：
10.1017/s0373463307004286
复制
发表时间：
2007-09-01
影响因子：
2.4
通讯作者：
Borenstein, Johann
中科院分区：
文献类型：
--
作者：
Ojeda, Lauro;Borenstein, Johann
介绍了一种用于行走人员的“个人航位推算”（PDR）导航系统。该系统对于在无法使用GPS的建筑物内监测紧急救援人员的位置非常有用。PDR系统使用一个附加在用户引导上的六轴惯性测量单元。该系统的优势在于使用了零速度更新（ZUPT）技术，几乎消除了加速度计漂移的不良影响。它可以很好地适应不同的步态，以及楼梯、斜坡和三维地形。本文对PDR进行了说明，并给出了大量的实验结果，说明了该系统的实用性和实用性。2006年国际联合专题会议：“分享紧急情况和危险环境的解决方案”上发表了这篇论文的部分内容。
This paper introduces a "Personal Dead- reckoning" (PDR) navigation system for walking persons. The system is useful for monitoring the position of emergency responders inside buildings, where GPS is unavailable. The PDR system uses a six-axes Inertial Measurement Unit attached to the user's boot. The system's strength lies in the use of a technique known as Zero Velocity Update (ZUPT) that virtually eliminates the ill-effects of drift in the accelerometers. It works very well with different gaits, as well as on stairs, slopes, and generally on 3-dimensional terrain. The paper explains the PDR and presents extensive experimental results, which illustrate the utility and practicality of the system. Parts of this paper were presented at the 2006 International Joint Topical Meeting: "Sharing Solutions for Emergencies and Hazardous Environments.