| 摘要: |
| 导航与位置服务是我国经济新增长点和战略性新兴产业。近年来，行人自主导航技术由于可为行人提供高自主、高智能、高可靠和低成本的位置服务而备受关注，成为了导航与位置服务赋能可穿戴设备的关键驱动力。针对惯性、磁场和视觉三大主流行人自主导航方法进行了调研分析，梳理了行人自主导航技术的研究进展，重点阐述了各类技术途径的原理与特点，并指出了行人自主导航技术的未来发展趋势。 |
| 关键词: 行人自主导航 人体里程计 行人航位推算 零速修正 磁场匹配 视觉惯性里程计 |
| DOI： |
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| 基金项目:国家自然科学基金（61673067,62273047） |
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| A survey of pedestrian autonomous navigation technology |
| DENG Zhihong,ZHANG Ping,LI Zhe,MENG Zhidong,SHEN Kai,SHANG Kejun |
| (School of Automation, Beijing Institute of Technology, Beijing 100089, China;Beijing Institute of Automation Control Equipment, Beijing 100074, China) |
| Abstract: |
| Navigation and positioning service is a new economic growth point and a strategic emerging industry in China. Pedestrian autonomous navigation has received much attention in recent years because it can provide high autonomy, high intelligence, high reliability and low-cost positioning service for pedestrians, which is an important driving force for the realization of wearable devices with navigation and positioning service. Taking pedestrian autonomous navigation technology as the object, this paper studies and analyses the three main types of autonomous navigation technologies: inertial-based, magnetic field and vision, introduces the research progress of pedestrian autonomous navigation technology, focuses on the principles and characteristics of various technical approaches, and finally looks forward to the future development trend of pedestrian autonomous navigation technology. |
| Key words: Pedestrian autonomous navigation Body odometer Pedestrian dead reckoning Zero velocity update Magnetic field Visual-inertial odometry |
