| 摘要: |
| 在室内等卫星导航受限场景下，可采用MEMS惯性传感器对行人进行自主导航定位。采用MEMS惯性传感器的行人自主导航技术主要包括基于步长估计的行人航位推算和基于零速修正的行人导航算法两种方式。首先介绍了两种方式的基本原理，然后重点分析了零速修正的行人导航算法，阐述了相关的关键技术和研究进展。最后，对行人自主导航未来的发展趋势进行了展望，并指出了需要重点关注的技术难点。 |
| 关键词: 行人导航 行人航位推算 零速修正 步长估计 |
| DOI： |
|
| 基金项目:国家重点研发计划（2016YFB0801303） |
|
| The Key Technologies and Development of Pedestrian Navigation Based on ZUPT |
| ZHANG Lun-dong,LU Xiao-hui,LI Jun-zheng,HE Mai-hang |
| (Information Engineering University, Zhengzhou 450001, China; Beidou Navigation Technology Collaborative Center of Henan, Zhengzhou 450001, China;People's Liberation Army 91039th Unit, Beijing 102401, China) |
| Abstract: |
| Micro-electro-mechanical systems (MEMS) inertial sensors can be used for pedestrian autonomous navigation and positioning in GNSS-denied areas such as indoor environments. There are mainly two modes of pedestrian autonomous navigation technology using MEMS inertial sensors, pedestrian dead reckoning (PDR) based on step length estimation and pedestrian navigation algorithm based on zero velocity update (ZUPT). Firstly, the principles of the PDR and ZUPT are introduced. Then the key technologies and development of the ZUPT are analyzed in detail. Finally, the future development trend of pedestrian autonomous navigation is discussed and the technical difficuties that need to be focused on are proposed. |
| Key words: Pedestrian navigation PDR ZUPT Step length estimation |
