| 摘要: |
| 在卫星受限情况下的单兵自主导航技术是近年来研究的热点。首先介绍了单兵自主导航技术的发展概况,然后重点分析了基于 MIMU的单兵惯性导航技术的主要原理和方法,之后针对纯惯性导航存在的问题,介绍了地磁、场景、视觉等常用的单兵辅助导航方法,并阐述了单兵协同导航技术。最后,简要介绍了单兵自主导航技术的未来发展趋势。 |
| 关键词: 单兵导航 航位推算 零速修正 视觉导航 协同导航 |
| DOI： |
|
| 基金项目:“十三五”预研项目 |
|
| A Survey of Autonomous Navigation Technology for Individual Soldier |
| PAN Xian-fei,MU Hua,HU Xiao-ping |
| (College of Intelligence Science,National University of Defense Technology,Changsha 410073,China) |
| Abstract: |
| Autonomous navigation in GNSS-denied environments for soldiers is a challenging technology. Firstly,the state of the art of the technology of autonomous navigation for soldiers was introduced. Then the soldier inertial navigation technology based on MIMUs was analyzed in detail. Aiming at the limits of inertial navigation,some assistant navigation methods such as geomagnetic,scene and vision were introduced. The cooperative navigation technology for soldiers was described. Finally,the future development trend of solider autonomous navigation technology was discussed. |
| Key words: Individual soldier navigation Dead reckoning ZUPT Visual navigation Cooperative navigation |
