关键词: 行人定位, 低功耗, LSTM, 场景分类, Sage-Husa算法

Abstract:  To address the challenges of pedestrian localization accuracy and high power consumption in outdoor complex environments， this paper proposes a low-power localization scheme based on scene classification for foot-mounted pedestrian navigation systems using GNSS/INS technology. This scheme collects GNSS， temperature and humidity sensor data， uses LSTM to classify typical outdoor scenes and adjusts the clock frequency of the MCU according to different scenes. Additionally， the scheme proposes an improved Sage-Husa method to mitigate the impact of GNSS outliers on localization results. The experimental results demonstrate that this solution achieves a scene classification accuracy of 97.64% with a system power consumption of only 193.074 mW. Compared with traditional ZUPT， GNSS， GNSS/INS integration and Sage-Husa methods， the proposed scheme reduces the root mean square localization error by 83.15%， 42.88%， 21.91% and 11.49% respectively. Therefore， this scheme can improve pedestrian localization accuracy in outdoor environments with low system power consumption.

Key words: pedestrian navigation system, low power, LSTM, scene classification, Sage-Husa algorithm