IMU Positioning system and method for adaptive direction estimation using virtual IMU

According to an embodiment of the present invention, a positioning system for adaptive direction estimation using a virtual IMU comprises: a virtual IMU which provides virtual inertial information (virtual IMU) by using the virtual magnetometer measurement value, virtual accelerometer measurement value, and virtual gyroscope measurement value of an object measured by a plurality of IMU sensors; a magnetometer measurement value correction unit which performs linear regression on the virtual magnetometer measurement value calculated by the virtual IMU and calibrates the same; a preprocessing unit which converts, into predefined matrices, the virtual gyroscope measurement value and virtual accelerometer measurement value of the virtual inertial information; a stationary state determination unit which compares the preprocessed virtual accelerometer measurement value and virtual gyroscope measurement value with a threshold value to determine whether the object is stationary; a magnetic disturbance weight calculation unit which calculates a magnetic disturbance weight (λ) for determining an abnormal magnetic field state by using the virtual magnetometer measurement value corrected by the magnetometer measurement value correction unit (120) when the object is stationary; a first data combining unit which filters and adds the virtual gyroscope measurement value and the virtual accelerometer measurement value preprocessed by the preprocessing unit and provides an estimated angle in the case of the abnormal magnetic field state; a second data combining unit which adds or subtracts the matrices of the virtual gyroscope measurement value, the virtual accelerometer measurement value, the virtual magnetometer measurement value preprocessed by the preprocessing unit and provides an estimated angle if the magnetic field is not abnormal; and an unscented Kalman filter unit which removes stochastic errors in the result values of the first data combining unit and the second data combining unit. Therefore, the accuracy of IMU positioning can be improved through adaptive direction estimation even in a magnetic disturbance state. 본 발명의 일 실시예에 따른 복수의 가상 IMU를 이용한 적응적 방향추정용 측위 시스템은 복수의 IMU 센서에서 측정된 대상의 자자계 측정값, 가속도 측정값, 자이로스코프 측정값을 이용하여 가상 관성정보(virtual IMU)를 제공하는 가상 IMU부; 상기 가상 IMU부에서 산출한 가상 자기계 측정값을 선형회귀한 후, 캘리브레이션하는 지자계 측정값 보정부; 상기 가상 관성정보 중 가상 자이로스코프 측정값 및 가상 가속도 측정값을 기 정의된 행렬로 변환처리하는 전처리부; 전처리된 가상 가속도계 측정값 및 기싱 자이로스코프 측정값을 임계값과 비교하여 상기 대상이 정지상태인지를 판단하는 정지상태 판단부; 상기 대상이 정지상태일 경