B 15 0150023 16 3 1
1 1 6 2 7 2.1.......................... 7 2.1.1................. 7 2.1.2..................... 7 2.2........................ 8 2.2.1...................... 8 2.2.2 INS................................ 8 2.2.3.................... 9 2.2.4........................ 9 2.3............................. 10 2.4.............. 10 2.5............................... 10 3 12 3.1.............................. 12 3.1.1................... 12 3.1.2............... 13 3.2................................. 13 4 16 4.1................................. 16 4.2........................ 18 4.2.1........................ 19
2 4.2.2.......................... 21 5 22 5.1......................... 23 5.1.1 2.87....................... 23 5.1.2 1.72....................... 25 5.1.3 0.57....................... 27 5.2......................... 29 5.3......................... 32 5.4 1..................... 36 5.5............................... 40 6 41 6.1................................. 41 6.2..................... 41 6.2.1......................... 42 6.2.2............................. 42 6.3.................... 44 6.3.1................ 44 6.3.2............................. 48 6.4................................... 49 7 2 51 7.1 2........................... 51 7.1.1............................... 51 7.1.2........................... 52 7.2 ADXL202.................. 53
3 8 54
4 3.1 ADXL202................................ 14 3.2................................. 15 4.1 1...................... 18 4.2................... 19 5.1 sin 1 0.05................ 24 5.2 sin 1 0.05................. 24 5.3 sin 1 0.05.............. 25 5.4 sin 1 0.03................ 26 5.5 sin 1 0.03................. 26 5.6 sin 1 0.03.............. 27 5.7 sin 1 0.01................ 28 5.8 sin 1 0.01................. 28 5.9 sin 1 0.01.............. 29 5.10............... 30 5.11................ 31 5.12.............. 31 5.13 10............ 33 5.14 10.............. 33 5.15 10........... 34 5.16 5............. 34 5.17 5.............. 35 5.18 5............ 35
5 5.19 :......... 37 5.20 :......... 37 5.21 :........... 38 5.22 :........... 38 5.23 :........ 39 5.24 :........ 39 6.1................ 45 6.2 0.5.. 46 6.3 0.5 5....................... 47
1. 6 1 GPS (Global Positioning System) GPS GPS GPS INS (Inertial Navigation System, ) INS 1
2. 7 2 2.1 1 2.1.1 GPS PHS GPS GPS PHS 2.1.2 INS INS
2.2 8 2 GPS 2.2 2.2.1 GPS GPS GPS 3 3 2.2.2 INS INS 2 INS
2.2 9 GPS 2.2.3 GPS GPS GPS INS GPS INS 2.2.4 GPS
2.3 10 2.3 PHS [4] 2.4 GPS GPS GPS INS INS [5] 2.5 ADXL202
2.5 11 1
3. 12 3 ADXL202[1] 3.1 ADXL202 2 [ 3.1] ±2g(g ) 3.1.1 ( ) 12.5% ( g )
3.2 13 3.1.2 3.2 ( 1.2m) [ 3.2] RS232C PC 5 6
3.2 14 3.1: ADXL202 5 2 PC 3 30cm/s 2
3.2 15 3.2:
4. 16 4 4.1 10 [ 4.1] 4.1: 10 ( )(%) 0.17 0.22 (cm/s 2 ) 13.50 17.66
4.1 17 1 10 1 [ 4.2] [ 4.2] 1 4.2: 10 (cm/s 2 ) (cm/s 2 ) 1 3.4 2.8 10 2.8 1.1 1 2.7 0.6 1 [ 4.1] 1 1 1
4.2 18 (%) 46.95 46.90 46.85 46.80 46.75 46.70 1 2 3 4 5 6 7 8 9 10 (hour) 4.1: 1 4.2
4.2 19 4.2.1 [6] [3] [ 4.2] 2 (cm/s ) 30 20 10 0-10 -20-30 -40-50 0 0.2 0.4 0.6 0.8 1 (sec) 4.2:
4.2 20 x k+1 = F k x k + G k w k ( ) y k = s k + v k = H k x k + v k ( ) x k : y k : w k : F k : s k : G k : v k : H k : k 0 x k w k s k v k y k F k G k H k {x k } {w k } ( ) {x k } {w k } 0 {x k } {w k } x 0 x 0 {x k } {w k }
4.2 21 {F k } {G k }{H k } x 0 {Σx 0 } {Σw k } y 0 y k x k ˆx k k =E{x k y 0,,y k } ˆx k k 1 =E{x k y 0,,y k 1 } F k G k H k 4.2.2 0 0 0
5. 22 5 1 1
5.1 23 5.1 2 2.87 1.72 0.57 1 5.1.1 2.87 sin 1 0.05( 2.87 ) [ 5.1] [ 5.2] [ 5.3] 120cm 0.05g =.. 49cm/s 2 [ 5.1] 2.3 [ 5.2] [ 5.3] 2 120cm 5cm 0.05g 1 sin 1 0.05 sin 1 0.03 sin 1 0.01
5.1 24 2 (cm/s ) 20 0-20 -40-60 -80 0 0.5 1 1.5 2 2.5 (sec) (cm/s) 20 5.1: sin 1 0.05 0-20 -40-60 -80-100 -120 0 0.5 1 1.5 2 2.5 (sec) 5.2: sin 1 0.05
5.1 25 (cm) 20 0-20 -40-60 -80-100 -120 0 0.5 1 1.5 2 2.5 (sec) 5.3: sin 1 0.05 5.1.2 1.72 0.03g sin 1 0.03 ( 1.72 ) [ 5.4] [ 5.6] [ 5.6] 50cm [ 5.4] [ 5.5] [ 5.6] 2 4cm 4cm
5.1 26 2 (m/s ) 0.1 0-0.1-0.2-0.3-0.4-0.5 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (sec) 5.4: sin 1 0.03 (cm/s) 10 0-10 -20-30 -40-50 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (sec) 5.5: sin 1 0.03
5.1 27 (cm) 10 0-10 -20-30 -40-50 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (sec) 5.6: sin 1 0.03 5.1.3 0.57 0.01g sin 1 0.01 ( 0.57 ) [ 5.7] [ 5.8] [ 5.9] 50cm [ 5.7] [ 5.8] [ 5.9] 2 3cm 2 3cm
5.1 28 2 (cm/s ) 40 20 0-20 -40 0 0.5 1 1.5 2 2.5 3 3.5 (sec) 5.7: sin 1 0.01 (cm/s) 10 5 0-5 -10-15 -20-25 -30-35 -40 0 0.5 1 1.5 2 2.5 3 3.5 (sec) 5.8: sin 1 0.01
5.2 29 (cm) 10 0-10 -20-30 -40-50 -60 0 0.5 1 1.5 2 2.5 3 3.5 (sec) 5.9: sin 1 0.01 5.2 1 1 [ 5.10] [ 5.11] [ 5.12] 60 [ 5.10] [ 5.11] [ 5.12] 2 60 350cm [ 5.10] [ 5.11] [ 5.12] 40 350cm 2m 5m 5.1
5.2 30 2 (cm/s ) 80 60 40 20 0-20 -40-60 -80 0 10 20 30 40 50 60 70 (sec) 5.10:
5.2 31 (cm/s) 30 20 10 0-10 -20-30 -40 0 10 20 30 40 50 60 70 (sec) 5.11: (cm) 50 0-50 -1-150 -200-250 -300-350 -400 0 10 20 30 40 50 60 70 (sec) 5.12:
5.3 32 5.3 10 5 2 10 1 [ 5.13] [ 5.14] [ 5.15] 5 1 [ 5.16] [ 5.17] [ 5.18] [ 5.13] [ 5.16] 10 5 [ 5.14] [ 5.17] 10 5 [ 5.15] [ 5.18] 10 5 1 20cm 10 7cm 40cm [ 5.14] [ 5.17] 5
5.3 33 2 (cm/s ) 120 100 80 60 40 20 0-20 -40-60 -80-100 0 10 20 30 40 50 60 (sec) 5.13: 10 (cm/s) 50 40 30 20 10 0-10 -20-30 -40 0 10 20 30 40 50 60 (sec) 5.14: 10
5.3 34 (cm) 60 40 20 0-20 -40-60 0 10 20 30 40 50 60 (sec) 5.15: 10 2 (cm/s ) 120 100 80 60 40 20 0-20 -40-60 -80-100 0 10 20 30 40 50 60 (sec) 5.16: 5
5.3 35 (cm/s) 50 40 30 20 10 0-10 -20-30 -40 0 10 20 30 40 50 60 (sec) 5.17: 5 (cm) 60 40 20 0-20 -40-60 0 10 20 30 40 50 60 (sec) 5.18: 5
5.4 1 36 5.4 1 1 5 [ 5.20] [ 5.22] [ 5.24] [ 5.20] [ 5.22] [ 5.24] 2 [ 5.23] 2 [ 5.23] 4m [ 5.24] 1 3cm 80% 2cm [ 5.19] [ 5.21] [ 5.19] [ 5.20] [ 5.21] [ 5.22] 10cm 2cm
5.4 1 37 2 (cm/s ) 60 40 20 0-20 -40-60 0 10 20 30 40 50 60 70 (sec) 5.19: : 2 (cm/s ) 60 40 20 0-20 -40-60 0 10 20 30 40 50 60 70 (sec) 5.20: :
5.4 1 38 (cm/s) 30 25 20 15 10 5 0-5 -10-15 -20 0 10 20 30 40 50 60 70 (sec) 5.21: : (cm/s) 15 10 5 0-5 -10-15 -20 0 10 20 30 40 50 60 70 (sec) 5.22: :
5.4 1 39 (cm) 500 450 400 350 300 250 200 150 100 50 0 0 10 20 30 40 50 60 70 (sec) 5.23: : (cm) 20 10 0-10 -20-30 0 10 20 30 40 50 60 70 (sec) 5.24: :
5.5 40 5.5 ADXL202 4 5 1 20 cm 5cm 20cm 10 cm 2cm 30 cm/s 2 9.8 cm/s 2
6. 41 6 5 1 6.1 5 10cm 2cm 10cm 4 6.2 PC
6.2 42 6.2.1 1 2 3 4-1 4-2 4-1 1 4-2 0 1 6.2.2 10cm 10cm 50cm 450 10cm [ 6.1] [ 6.2] [ 6.1] 3cm 40cm 95% 50cm 90% [ 6.2] 3 95% 4 70% 3
6.2 43 3 [ 6.3] [ 6.3] 3 50cm 10cm 97.8% 6.1: (cm) (%) (cm) 10 79 96.2 2.0 20 95 95.8 2.0 30 90 96.7 2.3 40 92 94.6 2.6 50 94 90.2 2.8 6.2: ( ) (%) (cm) 2.0 93 98.9 1.7 2.0 2.5 143 98.6 1.7 2.5 3.0 127 96.1 2.3 3.0 3.5 59 86.7 3.1 3.5 28 69.0 4.3
6.3 44 6.3: 3 ( ) (%) (cm) 3.0 363 97.8 2.0 6.3 10cm 6.3.1 [6.1] 1 10cm 200 300
6.3 45 ( (%)) 0.2 2 0.18 0.16 0.14 0.12 0.1 0.08 0.06 0.04 0.02 0 0 50 100 150 200 250 300 350 (sec) 6.1: [ 6.1] 1.5 4 [ 6.2] 0.5 0.02
6.3 46 ( (%)) 0.2 2 0.15 0.1 0.05 0 0 50 100 150 200 250 300 350 (sec) 6.2: 0.5 0.5 ( 0.2 )
6.3 47 5 0.5 [ 6.3] 0.1 ( (%)) 0.5 0.45 0.4 0.35 0.3 0.25 0.2 0.15 0.1 0.05 0 0 50 100 150 200 250 300 350 (sec) 6.3: 0.5 5 2 0.5 0.02 5 0.1
6.3 48 2 4 1 1 1 6.3.2 4 10cm 10cm 50cm 450 0.5 5 10cm [ 6.4] [ 6.5] [ 6.4] 15 10cm 3 [ 6.5] 2.5 2.5 90% 2.5 20 [ 6.6] 2.5 90.1%
6.4 49 6.4: (cm) (%) 10 83 79.5 20 97 83.5 30 88 84.1 40 90 78.9 50 92 75.0 6.5: ( ) (%) 2.0 95 91.6 2.0 2.5 143 90.2 2.5 3.0 129 76.0 3.0 3.5 56 66.1 3.5 27 37.0 6.4
6.4 50 6.6: 2.5 ( ) (%) 2.5 238 90.8 3 97% 3 2.5 90.1% 2.5 20
7. 2 51 7 2 2 2 3 3 [2] 2 3 3 6 7.1 2 ADXL202 2 7.1.1 2
7.1 2 52 x x y x y absolutex absolutey x 1 2 ( ) (x 1,y 1 ) (x 2,y 2 ) r x X y Y A ω x x θ 7.1.2 x1 y1 x2 y2 x 1 = X + rω 2 y 1 = Y ra x 2 = X rω 2 y 2 = Y + ra
7.2 ADXL202 53 X = x 1 + x 2 2 Y = y 1 + y 2 2 ω 2 = x 1 x 2 2r A = y 2 y 1 2r ω A 2 θ absolutex = (Xcosθ Y sinθ) absolutey = (Xsinθ + Y cosθ) 2 7.2 ADXL202 2 30 m/s 2 20cm 86 /s 2 10 m/s 2 29 /s 2 1 2 3
8. 54 8 ADXL202 1 10cm 3 97.8% 2.5 90.1%
55
56 [1] http://www.analog.co.jp/productselection/ datasheets/adxl202.pdf [2] Sou-Chen Leek and Yu-Chao Huang: Innovative Estimation Method with Measurement Likelihood for All-Accelerometer Type Inertial Navigation System, IEEE Transactions on Aerospace and Electronic Systems, Vol. 38, No. 1, pp. 339 346, January 2002. [3] Dan Simon and Tien Li Chia: KalmanFiltering with State Equality Constraints, IEEE Transactions on Aerospace and Electronic Systems, Vol. 38, No. 1, pp. 128 136, January 2002. [4] Shinji Miyazaki: Long-Term Unrestrained Measurement of Stride Length and Walking Velocity Utilizing a Piezoelectric Gyroscope, IEEE Transactions on Biomedical Engineering, Vol. 44, No. 8, pp. 753 759, August 1997. [5] :,, 2001. [6],,, ( ), 1993. ISBN 4-621-04594-6