基于启发式路径规划与IMU室内导航的关键技术

张小东; 战德臣; 王宇辰; 屈锦春

引用本文:	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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基于启发式路径规划与IMU室内导航的关键技术
张小东^1,2, 战德臣¹, 王宇辰², 屈锦春²
1.哈尔滨工业大学计算机科学与技术学院, 黑龙江哈尔滨 150001;2.哈尔滨工业大学(威海)计算机科学与技术学院, 山东威海 264209

摘要:

针对基于 IMU(inertial measure unit)的航位推算精准度不高与室内楼层间路径优化困难等问题,首先提出了基于启发式动态规划的三维路径规划算法 A-DP,然后,以最优路径为约束,改进了 HDE 算法(SPM-HDE),提高了行进方向的准确度,最后,结合其他 IMU 导航技术,完成在室内三维空间中的导航.经检验,算法效率与航位推算的精确度均有较大提高.

关键词: A*算法 IMU(inertial measure unit) 动态规划 A-DP SPM-HDE

DOI：

分类号:

基金项目:国家科技支撑计划(2012BAF12B16);国家自然科学基金(61273038);山东省科技攻关项目(2010GZX20126,2010GGX10104,2010GGX10116)

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

ZHANG Xiao-Dong^1,2, ZHAN De-Chen¹, WANG Chen-Yu², QU Jin-Chun²

1.School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China;2.School of Computer Science and Technology, Harbin Institute of Technology at Weihai, Weihai 264209, China

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.

Key words: A* algorithm IMU(inertial measure unit) dynamic programming A-DP SPM-HDE