| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 97 === In recent years, pedestrian navigation has become more and more popular. Compared with car navigation, pedestrian navigation is not fully development. Indoor navigation uses some inertial sensors such as accelerometer to measure the physical amount of walking to obtain the correct position any time. In order to get accurate data, we need not only accurate sensors but also some suitable attitude compensation method. The main idea of this thesis is to positioning pedestrian correctly regardless of the gravity effect generated from pedestrian’s attitude change.
Sensors used in this thesis are accelerometer and E-compass. Firstly, Accelerometer and E-compass are tested separately to find proper method to determine pedestrian walking distance and directions. The methods to find the walking distance using the accelerometer include “ Integrate twice method ” and “ The square root of 4 method ”. On the other hand, the tilt effect of the compass on the heading determination is also tested using the E-compass.
Finally, accelerometer and E-compass are combined together to find pedestrian positions. In static, accelerometer can be regarded as tilt sensor and be used to compensate E-compass. During walking, one can use E-compass to compensate attitude by earth magnetic flux invariance during the motion. In order to prove the feasibility of the attitude compensation method proposed in the thesis, the experiment are conducted with big change in pitch and roll during walking with satisfactory results.
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