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电子导盲辅助装置(ETA)是解决盲人出行困难的重要手段,而导航是ETA的关键技术。现有的ETA主要用GPS来定位定向,但在城市环境中经常存在GPS信号遮挡导致导航信息丢失的问题。针对该问题,利用视觉导航短时间内定位精度高,输出连续的优点以及MG(Magnetic Gravity)姿态测量可补偿姿态积累误差的优点,提出一种基于视觉、GPS和MG姿态测量的盲人行走组合导航算法。该方法构建系统误差模型并以Kalman滤波为框架。仿真和实验结果表明,提出的组合导航算法准确度优于单独的导航算法,满足盲人户外安全出行导航的需求。
Electronic guide aid (ETA) is an important means to solve the blind travel difficulties, and navigation is the key technology of ETA. The existing ETA mainly uses GPS to locate the orientation, but often there is a problem that the navigation information is lost due to the GPS signal occlusion in an urban environment. In view of this problem, this paper proposes a blind walking integrated navigation based on vision, GPS and MG attitude measurement by using the advantages of high positioning accuracy and continuous output in a short period of time, as well as the merit of MG (Magnetic Gravity) attitude measurement compensating the attitude accumulation error. algorithm. The method builds the systematic error model and takes Kalman filtering as the frame. Simulation and experimental results show that the proposed integrated navigation algorithm is superior to the single navigation algorithm to meet the needs of blind outdoor safety travel navigation.