| 摘要: |
| 针对惯性/里程计组合导航易受环境影响的情况，引入路网匹配方法，以惯导/里程计组合导航历史轨迹数据与路网数据库进行全局匹配比较，从而得到当前导航位置的匹配点。将匹配点作为组合导航卡尔曼滤波器的量测输入，其滤波结果用于反馈校正惯导误差，通过不断迭代优化后，惯性/里程计/路网匹配组合导航能够提供高精度的位置信息。试验验证结果表明，该方法能将大部分定位误差控制在10m左右，证明了该方法的有效性与适用性。 |
| 关键词: 组合导航 路网匹配 迭代优化 闭环校正 |
| DOI： |
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| 基金项目: |
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| Research on Multi-source Autonomous Integrated Navigation Based on Road Network Matching |
| LI Dan,LIU Ming,HU Huafeng |
| (General Design Institute of Hubei Aerospace Technology Academy, Wuhan 430040, China) |
| Abstract: |
| As integrated navigation of SINS/odometer can be easily disturbed by environment, the road network matching is introduced, which compares historical integrated navigation data with road networks database, and then generates the matching result of integrated navigation. The matching result is designed as the measure input of Kalman filter, and the output of Kalman filter is used to revise error of SINS. After reputational iterative optimization, the integrated navigation of SINS/odometer/road networks matching can achieve high precision navigational position. The experimental results show that this method can obtain most of the positioning errors around 10m, which proves its effectiveness and applicability. |
| Key words: Integrated navigation Road network matching Iterative optimization Closed loop revise |
