The Current Status of Development of Pedestrian Autonomous Navigation Technology

摘要

The problem of pedestrian autonomous navigation in non-cooperative navigation environment is a key problem that demands a prompt solution in the field of navigation and positioning. This technology is urgently needed in indoor positioning, as well as rescue and relief and antiterrorist work in urban canyons, underground passages, dense forests, caves and other environments of firefighters. And the Pedestrian Autonomous Navigation System (NANS) can make use of low-cost navigation sensors worn on the human body to realize pedestrian autonomous positioning in a non-cooperative navigation environment without satellite signals and wireless positioning signals. For this reason, researchers studied pedestrian autonomous navigation methods and devices based on inertial sensor, visual system, radar, barometer, ultrasonic sensor, magnetic sensor and other auxiliary devices. In view of the above situation, this paper introduces in detail the key technology of pedestrian autonomous navigation and the development and application of Pedestrian Autonomous Navigation System. Among them, the navigation scheme based on the autonomous inertial sensor, the combined autonomous positioning scheme based on multi sensors assisted by inertial positioning, the multi-sensor signal fusion method and the relevant indicators of the fireman positioning system are mainly introduced. Finally, through the analysis of technical indicators of the existing products and the performance of the applied sensors, the existing technical difficulties and the developing trend of related technologies are summarized.