基于惯性递推原理的行人自主定位方法综述及展望

在室内环境或者卫星信号遮挡环境下,如何实现单兵或者行人的自主定位是目前研究的热点问题.其中,基于惯性递推原理的行人自主定位方法由于无需提前布设基础设施,且具有体积小、成本低、完全自主、不受干扰、实时性高等特点,因此具有广泛的研究价值和意义.本文围绕基于惯性递推原理的行人自主定位方法展开介绍,针对动态步态分析、零速区间检测、惯性器件误差约束、运动误差约束方法和融合算法等方面技术进行了综述.最后,对基于惯性递推原理的行人自主定位方法的发展方向进行了展望.

A Survey of Pedestrian Autonomous Positioning Method Based on Inertial Recursion Principle

In indoor environment or satellite signal-blocked environment, how to realize the autonomous positioning of individual soldiers or pedestrians is a hot research issue. At present, the pedestrian autonomous positioning method based on the principle of inertial recursion has extensive research value and significance, for it does not need to install the infrastructure in advance and has the characteristics of small size, low cost, full autonomy, not being interfered and high real-time performance. In this paper, the pedestrian autonomous positioning method based on the principle of inertial recursion has been reviewed, focusing on the dynamic gait analysis, zero-speed interval detection, inertial device error constraints, motion constraint methods and fusion algorithms. Finally, the development trend of the pedestrian autonomous positioning method based on the principle of inertial recursion is prospected.