| 基于零速修正的行人导航关键技术及研究进展 |
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| 引用本文： | 张伦东,卢晓慧,李军正,何劢航. 基于零速修正的行人导航关键技术及研究进展[J]. 导航定位与授时, 2020, 7(3): 141-149 |
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| 作者姓名： | 张伦东 卢晓慧 李军正 何劢航 |
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| 作者单位： | 信息工程大学，郑州 450001；北斗导航应用技术河南省协同创新中心，郑州 450001,中国人民解放军91039部队, 北京 102401,信息工程大学，郑州 450001；北斗导航应用技术河南省协同创新中心，郑州 450001,信息工程大学，郑州 450001；北斗导航应用技术河南省协同创新中心，郑州 450001 |
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| 基金项目： | 国家重点研发计划（2016YFB0801303） |
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| 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。
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| 关 键 词： | 行人导航；行人航位推算；零速修正；步长估计 |
The Key Technologies and Development of Pedestrian Navigation Based on ZUPT |
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| ZHANG Lun-dong,LU Xiao-hui,LI Jun-zheng and HE Mai-hang. The Key Technologies and Development of Pedestrian Navigation Based on ZUPT[J]. Navigation Positioning & Timing, 2020, 7(3): 141-149 |
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| Authors: | ZHANG Lun-dong LU Xiao-hui LI Jun-zheng HE Mai-hang |
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| Affiliation: | 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,Information Engineering University, Zhengzhou 450001, China; Beidou Navigation Technology Collaborative Center of Henan, Zhengzhou 450001, China and Information Engineering University, Zhengzhou 450001, China; Beidou Navigation Technology Collaborative Center of Henan, Zhengzhou 450001, China |
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| 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. |
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| Keywords: | Pedestrian navigation PDR ZUPT Step length estimation |
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