| 智能车辆SINS/DGPS/光电测速仪组合导航的研究 |
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| 引用本文： | 李旭,张为公.智能车辆SINS/DGPS/光电测速仪组合导航的研究[J].传感技术学报,2007,20(6):1437-1442. |
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| 作者姓名： | 李旭 张为公 |
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| 作者单位： | 东南大学仪器科学与工程学院,南京,210096 |
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| 基金项目： | 江苏省重点实验室基金，江苏省交通科学研究计划，东南大学博士科研启动基金 |
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| 摘 要： | 为适应自主驾驶车辆的高精度、高频率与高可靠性的导航要求,本文对智能车辆的多传感器组合导航进行了研究.提出了一种双向光电测速仪和CP-DGPS共同辅助SINS的智能车辆组合导航方法,进行了仿真试验验证.结果表明,该组合导航系统能为智能车辆提供丰富的导航信息,并具有100 Hz的高频输出、厘米级的导航精度和较强的容错能力,当GPS较长时间中断时,通过SINS/光电测速仪的组合仍能为智能车辆提供可靠的导航数据.
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| 关 键 词： | 智能车辆 自主驾驶 组合导航 信息融合 |
| 文章编号： | 1004-1699（2007）06-1437-06 |
| 收稿时间： | 2006-09-28 |
| 修稿时间： | 2006-09-282006-12-14 |
SINS/DGPS/Speedometer Integrated Navigation for Intelligent Vehicle |
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| Li Xu,Zhang Weigong.SINS/DGPS/Speedometer Integrated Navigation for Intelligent Vehicle[J].Journal of Transduction Technology,2007,20(6):1437-1442. |
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| Authors: | Li Xu Zhang Weigong |
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| Affiliation: | College of Instrument of Science and Technology, Southeast University, Nanjing 210096,China |
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| Abstract: | To satisfy the navigation demands such as high accuracy, high frequency and high reliability for autonomous Intelligent Vehicle, a new multi-sensor integrated navigation technique is studied. An integrated navigation method in which SINS is aided by photoelectric speedometer and CP-DGPS is proposed. Then, simulation experiments are made. Simulation results show that the proposed navigation method can provide enough navigation information at 100Hz with cm-level navigation accuracy and good fault-tolerant ability. Even when GPS is continuously interrupted for a period, Intelligent Vehicle can still get reliable navigation information by SINS/Speedometer integration. |
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| Keywords: | intelligent vehicle autonomous driving integrated navigation information fusion |
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