里程计辅助的高精度车载GNSS/INS组合导航系统

针对城市隧道、偏远山区等复杂路况下,卫星导航系统信号被遮挡较严重或无卫星导航系统信号的场景中,车载GNSS/INS组合导航系统精度下降的问题,提出一种里程计辅助的高精度车载GNSS/INS组合导航方法。该方法中的组合滤波模式可根据载车环境变化在GNSS/INS组合模式和DR/INS组合模式间实现自适应切换,该组合导航方法将三维里程计航位推算位置误差作为状态量扩充到常规组合导航滤波器中,里程计的标度因数误差、安装角误差可通过里程计误差标定方法离线精确得到,后续使用只需将里程计误差参数装订到组合导航系统中即可。车载试验表明,7 km的信号遮挡场景下组合导航系统单个方向上的位置误差最大值也不大于8 m,整个跑车过程中位置误差在3 m以内,进一步保证了车载GNSS/INS组合导航系统复杂路况下的高精度定位。

High-precision vehicle GNSS/INS integrated navigation system aided by odometer

In complex road conditions such as urban tunnels and remote mountainous areas,where satellite navigation system signals arepartially or totally occluded,the accuracy of a vehicle's GNSS/INS integrated navigation system was degraded.Thus,an odometer-assisted high-precision integrated navigation method was proposed in this paper.The combined filtering mode in the method could realize adaptive switching between the GNSS/INS and DR/INS combined modes according to the changes in the vehicle's environment.Additionally,in the combined navigation method,the three-dimensional reckoning position error was extended to the conventional combined navigation filter state.Further,the scale factor error and installation angle error of the odometer could be accurately obtained offline using the odometer error calibration method.However,it is necessary to bind the odometer error parameter to the integrated navigation system in a subsequent use.The vehicle tests reveal that the maximum position error of the integrated navigation system in a single direction of a 7-km signal occlusion scene is 8 m,and the position error is less than 3 m throughout the test.Therefore,the vehicle GNSS/INS integrated navigation system can provide high-precision positioningin complex road conditions.