共查询到19条相似文献,搜索用时 453 毫秒
1.
现存的组合导航系统存在诸多问题:地形辅助导航系统分辨率较低;GPS/INS导航系统中GPS信号易受干扰;SAR/INS导航系统无法实现三维定位且无法获得平台的姿态信息.针对以上问题本文提出了基于条纹匹配的InSAR/INS组合导航方法:该方法将InSAR系统获得的干涉条纹与DEM生成的干涉条纹进行匹配,得到的定位偏移用以反演平台的位置和姿态信息,最后将反演结果与IMU信息进行组合滤波得到导航输出.该组合导航系统有以下优势:干涉条纹中包含地形信息和平台姿态信息;干涉相位对横滚角敏感,可通过干涉相位高精度反演平台的横滚角;InSAR系统具有较高精度的三维定位能力.本文主要介绍了基于条纹匹配的InSAR/INS组合导航的原理和方法,最后通过仿真和实测数据验证了条纹匹配和观测量反演算法的可行性. 相似文献
2.
针对INS/GPS组合导航系统在GPS信号被遮挡时,GPS接收机失锁导致导航精度迅速下降的问题,提出了基于BP神经网络辅助的组合导航算法。即在GPS信号锁定的时候,采用卡尔曼滤波对INS/GPS信号进行数据融合得到实时的精确位置,同时利用组合导航输出信息对BP神经网络进行实时在线训练;一旦GPS失锁,利用之前训练好的神经网络对INS系统进行误差补偿,解决精度迅速下降问题。通过跑车实验证明,速度精度在0.2m/s以内,位置精度为25m以内,该算法对INS/GPS组合导航系统有效。 相似文献
3.
惯性器件与全球卫星定位系统(GPS)的组合导航成为目前车载导航的主流.无论在精度、性能、可靠性等各方面,GPS/DR组合导航系统都优于单独的GPS导航系统.在GPS信号丢失时,车载导航仪(GPS/GIS/DR)能利用陀螺自主导航,不间断提供导航信息并保持跟踪. 相似文献
4.
5.
6.
7.
《无线电工程》2016,(12)
为解决复杂路况下车载组合导航系统存在的卫星导航系统信号衰弱、断续导致信号观测性差和组合滤波器稳定性下降甚至发散等问题,采用了一种简化的、易于工程实际应用的车载自适应组合导航算法,利用数据检测方法对卫导原始观测数据进行评估,根据评估结果构造自适应滤波因子,实时更新滤波器量测噪声协方差阵,提高滤波器对观测信息变化的适应能力。通过实际动态跑车试验,表明这种简化的自适应组合导航算法在卫导信号断续情况下,仍能保证3 m(RMS)的定位精度、0.04 m/s(RMS)的测速精度,较常规Kalman滤波定位精度提高近30%,测速精度提高达70%,能满足城市、山区等恶劣场景下车载导航的需求。 相似文献
8.
在室内导航定位中,射频识别(Radio Frequency Identification, RFID)技术具有信号穿透性强、成本低廉等诸多优点,能够有效代替GPS完成室内组合导航。针对室内惯性导航误差发散和滤波中噪声参数不确定的问题,提出了基于自适应卡尔曼滤波(Adaptive Kalman Filtering, AKF)的RFID/SINS组合导航系统,通过RFID定位系统抑制惯性导航误差发散,并应用AKF将噪声参数与量测输出参数关联实现实时更新。对AKF和标准卡尔曼滤波(Kalman Filtering, KF)下的RFID/SINS组合导航系统进行了仿真和实验。结果表明,在AKF下组合导航系统平均定位误差降低了10%,位置稳定性提升了7.4%,定位误差保持在0.07 m左右。基于AKF的RFID/SINS组合导航系统能够满足室内高精度定位导航的需求。 相似文献
9.
10.
基于DSP的Galileo/GPS联合导航定点算法研究 总被引:1,自引:0,他引:1
文章对比了GPS、Galileo及Galileo/GPS联合导航系统的性能,研究了基于最小二乘单点定位定点解算工程实现算法。仿真结果表明,Galileo/GPS联合导航较独立系统可见星数目、GDOP值及定位精度有明显的改善和提高。通过TMS320C6416 DSP硬件平台测试表明,研究的定点解算算法较浮点解算算法定位精度变化很小,具有较快的解算处理时间,为Galileo/GPS联合导航的实际应用打下了基础。 相似文献
11.
针对GPS卫星信号在楼群密集的城市和室内存在定位盲区而无法单独完成定位的难题,提出GPS-DTMB组合导航定位方法。在多源信号组合导航定位系统中,为了解决导航定位精度与运算复杂度间的矛盾,研究改进的加权行列式选星算法在GPS与DTMB组合定位系统中的可行性,与传统最小GDOP选星算法相比较,改进的选星算法具有运算复杂度低、计算消耗时间短的优点,并且对比分析在不同的组合卫星数目中,该算法与直接利用传统最小GDOP选星算法相比较的偏差大小,仿真表明,在15种组合卫星中,偏差小于0.1的概率在90%左右,能够得到满意的性能,证明了此方法的实用性。 相似文献
12.
13.
14.
15.
16.
《Mechatronics》2023
Acquiring precise navigation data is a vital process to unmanned vehicles. Although Inertial Navigation System and Global Positioning System (INS/GPS) integrated system provides accurate and continuous navigation solution, the navigation solution accuracy degrades during GPS outages. In order to provide accurate and continuous navigation data during GPS outages, a novel architecture of a cascaded neural networks is proposed to estimate velocity and position errors during GPS signal blockage to handle the time dependency and non-linearity modeling. An ablation study is conducted to grasp the proposed model hyper parameters and their impacts on overall accuracy. Various scenarios are carried out by building and using different grades IMU models. These models are examined through two distinct trajectories for flying and ground platforms to assure the proposed algorithm applicability scope and efficiency. Furthermore, a comparative analysis is carried out based on a real-field test to evaluate the proposed algorithm efficiency and navigation accuracy during GPS outages. The proposed system proves its superiority against the legacy Extended Kalman Filter (EKF) and the advanced Recurrent Neural Network (RNN) based systems in terms of navigation performance during GPS outages periods. 相似文献
17.
《Mechatronics, IEEE/ASME Transactions on》2006,11(5):567-575
The vehicle positioning system is a key component in functions such as vehicle guidance, driver alert and assistance, and vehicle automation. Since installing a low-cost global positioning system (GPS) or inertial navigation system (INS) unit is becoming a common practice in vehicle applications, its involvement in vehicle guidance and vehicle safety deserves a closer investigation. Typical vehicle applications require high reliability, low cost, and sufficient accuracy under all operational conditions. For GPS-based positioning, urban driving with its complicated maneuvers, frequent GPS blockage, and multipath, are some of the most difficult driving environments. This paper explores the feasibility of a low-order vehicle positioning system functioning under an urban environment. The equipped vehicle has a midrange differential GPS (DGPS) unit and few relatively simple in-vehicle sensors. A low-order integration is explored by utilizing a vehicle model-based extended Kalman filter (EKF) to incorporate in-vehicle motion sensors and to largely avoid direct integration of INS signals. Further, the characteristics of DGPS measurements under urban environments are investigated, and novel DGPS noise processing techniques are proposed to reduce the chances of exposing the EKF to undesirable DGPS measurements due to common DGPS problems such as blockage and multipath. A resulting fourth order EKF based positioning system is successfully implemented in the test vehicle to demonstrate the feasibility of the proposed design. Experimental results illustrate the ability of the system to meet the accuracy and robustness requirements in the presence of blockage and multipath under a typical urban driving environment. 相似文献
18.
Seong‐Baek Kim Kyung‐Ho Choi Seung‐Yong Lee Ji‐Hoon Choi Tae‐Hyun Hwang Byung‐Tae Jang Jong‐Hun Lee 《ETRI Journal》2004,26(5):497-500
In this paper, we present a novel idea to integrate a low cost inertial measurement unit (IMU) and Global Positioning System (GPS) for land vehicle localization. By taking advantage of positioning data calculated from an image based on photogrammetry and stereo‐vision techniques, errors caused by a GPS outage for land vehicle localization were significantly reduced in the proposed bimodal approach. More specifically, positioning data from the photogrammetric approach are fed back into the Kalman filter to reduce and compensate for IMU errors and improve the performance. Experimental results are presented to show the robustness of the proposed method, which can be used to reduce positioning errors caused by a low cost IMU when a GPS signal is not available in urban areas. 相似文献
19.
Sul Gee Park Deuk Jae Cho 《International Journal of Satellite Communications and Networking》2017,35(2):123-137
Intelligent Transport System applications require accurate and reliable positioning. When stand‐alone global positioning system (GPS) is used in urban areas, the results dramatically degrade, because of signal outages and multipath. This paper unveils new signal processing techniques for carrier phase‐based navigation in urban environments. The techniques identify multipath or weak signals using carrier phase based receiver autonomous integrity monitoring, and abnormal signals and situational measurements are eliminated or estimated. To estimate the carrier phase during a short time period when GPS signals is blocked, this paper uses carrier phase statistics. The performance of the proposed method is verified, through a car test. The test environment has many signal outages and multipath because of high buildings. Many abnormal signal conditions occurred during the test, and the results confirmed that the proposed method performed better than the basic stand‐alone GPS approach when compared with GPS/inertial navigation system (INS) integrated navigation results. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献