本项目在分析已有的IMU/磁罗盘/ZigBee组合导航系统的基础上，引入超声波传感器，研究超声波/IMU/磁罗盘/ZigBee多传感器组合导航系统，可满足行人在室内环境下对实时导航定位的需求。它是多学科交叉的前沿研究工作。具体研究(1)超声波三维定位方法设计和算法实现, (2)相应的超声波/IMU/磁罗盘/ZigBee 室内组合导航定位系统数据融合方法，从而获得室内高精度导航定位的关键技术，使室内导航的精度达到厘米量级。这项技术在大型建筑物、停车场、展览厅导航定位，在矿山矿工、医院病人，以及老人和儿童的监视和救护定位应用中具有很重要的作用。在核设施营运、某些化工行业等危险环境下，使用机器人导航中有实用价值。研究成果在图像识别、目标跟踪、机器人导航等领域也有重要的科学价值。

The project will investigate Ultrasonic/IMU/Magnetometer/ZigBee integrated navigation system for pedestrian positioning. First at all, the existing integrated system, IMU/Mag/ZigBee, will be analyzed, and then the ultrasonic sensor technology will be incorporated into the system for the purpose of very high accurate indoor positioning. It's multi-discipline frontier science and technology. The contents include three dimension ultrasonic positioning method /algorithms, and relevant data fusion method of ultrasonic/IMU/Mag/ZigBee for indoor positioning. It's key technology with the positioning accuracy at centimeter level. It plays a very important role in large-scale buidings', parking lots', exhibition halls' positioning, surveillance and rescue in hospitals for patients, in mines for miners, and for seniors and children. It can be used for robots to work in dangerous sites, such as, nuclear facilities and chemical industry. The research achievement has important value in the fields of image recognition,target tracking,robot navigation.