中文摘要：

零速修正技术是克服捷联惯导（SINS）定位定姿误差发散最为实用的一种约束方法，该技术包含零速区间探测和零速更新两个部分，其中，零速区间探测是零速更新的基础。基于实测数据，对广泛应用于行人微机电系统（MEMS）组合导航中的4种零速区间探测方法在车载全球卫星导航系统／捷联惯导（GNSS／SINS）高精度组合导航中的实际探测性能进行了分析，获得了一些有益的结论。在此基础上，提出使用低通滤波器预先消除陀螺和加速度计数据中的高频噪声，进而提升角速度能量探测器零速区间探测效果的改进方法，并给出了不同窗口的最佳阈值范围。

英文摘要：

Zero velocity update（ZUPT） is the most practical method to overcome SINS position and attitude error divergent for a constraint. The technology includes two parts： zero speed update and zero speed detection, and the latter is the basis of the former. Based on the measured data, the actual performances of four zero speed detection methods, namely AMVD, AMD, ARED and SHOE, which are widely used in pedestrian integrated navigation based on MEMS are analyzed in the vehicle GNSS/SINS integrated navigation field, and we gained some useful conclusions. On this basis, we propose the use of a low-pass filter to eliminate the high- frequency noise which existed in the original gyro and accel erometer data and thus enhance the performance of ARED and gives the optimum threshold range of different windows.