基于步行者航位推算的井下人员辅助定位

针对目前井下人员定位系统存在的问题，提出一种基于步行者航位推算的辅助定位方法。利用低成本的惯性测量单元(IMU)和磁力计，设计稳定的姿态与航向参考系统(AHRS)，利用惯性导航的相关理论，并通过分析人员步行姿态，进行零速修正(ZUPT)，组成步行者航位推算系统，对井下人员进行实时航位推算。以实验室大楼走廊模拟井下矿道环境进行航位推算实验，实验结果表明，本方法对人员行走距离和方向做出良好的推算，能成为现有井下定位的有效补充，提高人员定位精确度。

Underground personnel positioning system based on pedestrian dead reckoning

Aiming at the problems in existing underground personnel positioning systems, an assisted positioning method based on pedestrian dead reckoning is proposed. Low-cost Inertial Measurement Unit(IMU) and magnetometer are employed to constitute a stable Attitude Heading Reference System (AHRS). The theory of inertial navigation is utilized, an algorithm for step detection is described, and Zero velocity Update(ZUPT) is adopted for velocity and position estimation to compose a pedestrian dead reckoning system. An experiment is performed in the corridor of a laboratory building to emulate the underground mine road environment. The experimental results demonstrate that the dead reckoning performs well and this method is an effective complement to existing underground positioning by improving the positioning accuracy.