Key Technologies of Indoor Navigation Based on Heuristic Path Planning and IMU
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    Abstract:

    In order to address the low accuracy issue of IMU-based(inertial-measure-unit-based) dead reckoning and the difficulty of path optimization between the indoor floors and other problems, a series of work are carried out in this paper. First of all, a three-dimension path optimization algorithm, A-DP, is proposed based on the heuristic dynamic programming. Then, with the optimal path constraint, the HDE algorithm and the accuracy of the direction of travel(SPM-HDE) are improved. Finally, combining with IMU navigation technologies, the navigation in indoor three-dimensional space is accomplished. Test results show that both the efficiency of the algorithm and the accuracy of the dead reckoning are greatly improved.

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张小东,战德臣,王宇辰,屈锦春.基于启发式路径规划与IMU室内导航的关键技术.软件学报,2015,26(S1):78-89

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History
  • Received:April 15,2015
  • Revised:July 20,2015
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  • Online: November 14,2015
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