碩士 / 逢甲大學 / 自動控制工程學系 / 105 / The purpose of this thesis is to develop an indoor pedestrian navigation system and its associated pedestrian trajectory reconstruction algorithm, which integrates the inertial navigation system (INS) and indoor map information to reconstruct pedestrian walking trajectories during normal walking in indoor environments. First, the indoor pedestrian navigation system integrated a triaxial accelerometer, a triaxial gyroscope, a triaxial magnetometer, a microcontroller, and a wireless transmission module to form a wearable pedestrian INS. Subsequently, we developed an indoor pedestrian trajectory reconstruction algorithm to fuse the INS and map information for reconstructing pedestrian walking trajectories in indoor environments. In addition, we utilized an adaptive extended Kalman filter (AEKF) to develop an indoor pedestrian trajectory reconstruction algorithm for minimizing the accumulation error, and then which can combine with a map matching algorithm and a height detection algorithm to effectively reconstruct pedestrian trajectories in 3D indoor environments. Finally, the experimental results have successfully validated the effectiveness of the proposed indoor pedestrian navigation system and its indoor pedestrian trajectory reconstruction algorithm.
| Identifer | oai:union.ndltd.org:TW/105FCU00146022 |
| Date | January 2017 |
| Creators | KUO, YU-CHEN, 郭祐辰 |
| Contributors | HSU, YU-LIANG, CHANG, HSING-CHENG, 許煜亮, 張興政 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 90 |
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