RTK+IEZ pedestrian position method aided by magnetometer turn-detection HDE for harsh environment

doi:10.13474/j.cnki.11-2246.2022.0149

Abstract

Abstract: The accumulation of position and heading errors of traditional INS-EKF-ZUPT (IEZ) method will make the position accuracy deteriorate rapidly in harsh environment. Therefore, a magnetometer turn-detection heuristic drift elimination (MTHDE) algorithm which can be integrated with RTK into IEZ is proposed, and a RTK+IEZ+MTHDE pedestrian position method for environment with four orthogonal main directions is designed. The RTK+IEZ+MTHDE pedestrian position method is verified in an approximately 800 m rectangular experimental trajectory with open areas, tree-lined roads, semi-occluded buildings, and indoor environment. The results show that RTK and MTHDE algorithms reduce the position and heading errors of IEZ, in the experimental trajectory of 12 reference points, the average plane positioning error of RTK+IEZ+MTHDE method is 1.35 m, which is better than traditional RTK+IEZ method.

Key words: foot-mounted, heuristic drift elimination, inertial navigation, integrated navigation, RTK

CLC Number:

P258

ZHANG Chao, JIANG Jinguang, WU Jiaji, XIE Dongpeng, YAN Peihui. RTK+IEZ pedestrian position method aided by magnetometer turn-detection HDE for harsh environment[J]. Bulletin of Surveying and Mapping, 2022, 0(5): 101-105,149.

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