在全球卫星导航系统拒止的环境里, 导航信息难以获取, 基于红外、超声波、射频、Wi-Fi、超宽带(UWB)等室内定位方法均需要辅助电子标签, 传统航位推算法只适合前向步态的路径跟踪, 在后向、左向、右向步态模式下会出现反向或垂直的路径错误。针对以上问题, 该文借助移动终端的惯性测量单元数据, 在不依赖任何电子标签模式导航的情况下, 实现短时多模式步态行人跟踪。结果表明, 通过多次重复测试, 步态检测准确率≥92%, 以实际车库场景为实验背景, 该文方法可获得全步态模式下自主路径跟踪, 路径追踪误差小于3 m。

It is difficult to obtain the navigation information in the case of GNSS rejection, while the methods based on infrared, ultrasonic, radio, Wi-Fi, ultra-wide-band need the assist of electronic label, and the traditional dead reckoning algorithm is to draw the trajectory of a pedestrian on the condition of walking forward. It may be opposite or perpendicular to the actual trajectory if the pedestrian takes backward and lateral walking. To solve the above-mentioned problems, the inertial measurement unit embedded in mobile terminal is used to realize the short-time multi-mode pedestrian tracking based on multi-sensor without relying on any electronic label. The results of repeated tests show that the detected accuracy of walking mode is higher than or equal to 92%. Taking the actual garage scene as the experimental background, this method can obtain autonomous path tracking in full walking mode, and the path tracking error is less than 3 m.