To deal with the problem of low navigation accuracy caused by inappropriate fixed noise parameters when using zero velocity update algorithm for pedestrian navigation,a zero velocity update algorithm based on particle swarm optimization is presented.Filter pa-rameters can be adjusted online by minimizing the filter innovation sequence in the zero velocity phase to adapt to the current pedestrian motion state.Finally,the algorithm effectiveness is verified by solving the multiple inertial data.The standard zero velocity update algo-rithm and the proposed algorithm are used to solve the inertial data,and the position errors of the two algorithms are calculated.The re-sults show that the proposed algorithm can obtain smaller position error and smoother solution trajectory.
维普
万方数据