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ZHENG Tao, PhD, lecturer, majors in multi-source fusion positioning, GNSS inertial guidance combined navigation and positioning, E-mail: zhengtao210@126.com
Outline
In inertial pedestrian navigation, traditional fixed-threshold detection methods often significantly increase the positioning error of pedestrians due to false positives and false negatives. To address this issue, this paper proposes an improved zero-velocity interval detection algorithm. The algorithm first constructs an adaptive threshold detection model based on the generalized likelihood ratio test(GLRT). It then uses the threshold values obtained from multi-constraint detection to eliminate false positives in the adaptive detection process, thereby improving the detection accuracy of zero-velocity intervals. To verify the performance of the algorithm, two experimental scenarios were designed: constant-speed and fast walking along L-shaped and rectangular routes. The experimental results show that compared with acceleration magnitude variance(AMV) detection and GLRT detection, the proposed algorithm is not only simple to implement but also reduces the root mean square error(RMSE) of reference points by more than 40%, significantly enhancing the accuracy of inertial pedestrian navigation.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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