作者：张旻¹, 耿凯鸽², 穆骏³

作者单位：1. 西安体育学院, 陕西 西安 710068;
2. 西安电子科技大学人工智能学院, 陕西 西安 710071;
3. 西安市市政设施管理局, 陕西 西安 710032

关键词：智能健康管理;微惯性系统;自主式;零速率检测;足部约束

摘要：

随着智能健康管理水平的提升，对传感装备及其测量精度的技术要求也在不断提高。针对低精度微型惯性测量单元的不足，设计一种可穿戴鞋式的足部约束行人自主惯性导航微系统，分析行人行进过程的足部运动特征，构造基于足部零速约束的滤波算法模型，实现行进过程中的自主导航误差连续反馈修正，研制相应的硬件集成微系统并实现算法片上解算输出。多边形路线的行走实验测试结果表明，引入零速修正后的导航算法误差为行走距离的1.6%，导航精度提升约两个数量级。

Design of self-aid pedestrian navigation microsystem based on foot zero-velocity constraint
ZHANG Min¹, GENG Kaige², MU Jun³
1. Xi'an Physical Education University, Xi'an 710068, China;
2. School of Artificial Intelligence, Xidian University, Xi'an 710071, China;
3. Xi'an Municipal Facilities Authority, Xi'an 710032, China
Abstract: With the improvement of the level of intelligent health management, the technical requirements for sensing equipment and their measurement accuracy are also improved constantly. In this work, Micro self-aid pedestrian navigation system (SaPNS) based on foot motion constraint in a wearable footwear is designed due to the low-accuracy characteristic of micro inertial measurement unit (MIMU). Foot motion characteristic during walking is first analyzed. Then, filtering model based on foot zero velocity constraint update method is designed to revise continuously feedback corrects for pedestrian navigation error during walking. The corresponding hardware-integrated microsystem is designed and the on-chip output based on the presented algorithm is implemented. The experimental tests based on polygon-type walking show that the navigation error based on the presented algorithm is just 1.6% compared with walking distance and the corresponding navigation accuracy is improved by about two orders of magnitude.
Keywords: intelligent health management;micro inertial system;self-aid navigation;zero velocity detection;foot motion constraint
2023, 49(5):123-128  收稿日期: 2022-02-20;收到修改稿日期: 2022-05-15
基金项目: 陕西省留学人员科技活动择优资助项目（SXRS1028）；陕西省软科学研究计划（2023-CX-RKX-073）
作者简介: 张旻(1980-),女,陕西西安市人,教授,博士,硕士生导师,研究方向为体育运动学、体育管理学
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