| 基于地图匹配的自主导航算法 |
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| 引用本文： | 曹梦龙,崔平远.基于地图匹配的自主导航算法[J].青岛科技大学学报,2008,29(2):178-181. |
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| 作者姓名： | 曹梦龙 崔平远 |
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| 作者单位： | [1]青岛科技大学自动化与电子工程学院,山东青岛266042 [2]哈尔滨工业大学深空探测基础研究中心,黑龙江哈尔滨150001 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 已知环境下为弥补卫星信号丢失带来的导航精度下降问题,提出了基于地图匹配的组合导航算法。自主导航系统采取INS/GPS组合方案,在GPS信号有效时,建立基于道路约束的环境地图,GPS信号无效的时候利用已建立的环境地图辅助惯性导航,减少导航误差。通过实测数据,针对GPS信号无效的情况进行了计算机仿真,给出了实际路试结果。结果表明,新算法有效提高了导航精度。
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| 关 键 词： | 自主导航 地图匹配 INS/GPS |
| 文章编号： | 1672-6987(2008)02-0178-04 |
| 修稿时间： | 2007年6月5日 |
Autonomous Navigation Algorithm Based on Map Matching |
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| CAO Meng-long,CUI Ping-yuan.Autonomous Navigation Algorithm Based on Map Matching[J].Journal of Qingdao University of Science and Technology:Natutral Science Edition,2008,29(2):178-181. |
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| Authors: | CAO Meng-long CUI Ping-yuan |
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| Abstract: | In order to compensate the error of autonomous navigation system,the implementation of high-precision autonomous navigation algorithm based on map-matching is presented,when the signal of GPS is denied.The core arithmetic of map-matching is described in detail,digital map is built with the road constrain,map aided inertial navigation system acts as substitution of INS/GPS to achieve approximately equal precision.Finally the results of the field road-test are given and the precision is improved effectively. |
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| Keywords: | autonomous navigation map-matching INS/GPS |
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