基于SLAM辅助的INS/无线电组合定位方法

针对卫导拒止且陆基无线电导航台站坐标未知的情况下,无线电组合导航方式难以应用的问题,本文提出了一种基于同时制图与定位(SLAM)辅助的无线电组合定位方法。首先,通过无线电导航传感器的测距和测角信息,结合惯导系统(INS)输出的位置信息来估算无线电导航台站位置。然后,由估算的台站位置和无线电导航测量信息进行INS/无线电组合定位,再由组合定位信息优化估算台站位置。最终,通过即时的进行自身定位和台站位置估计抑制INS的发散。实验结果表明:该方法在卫导拒止和未知环境下可改善组合导航的性能。

Radio Integrated Navigation Method Based on SLAM

Focus on the problem that radio integrated navigation cannot be used when there is no GPS signal and coordinates of radio station, this paper proposed an integrated method using simultaneous localization and mapping (SLAM) information. Firstly, according to the measuring information of radio navigation sensor, the position of radio navigation station is estimated combined with the position information of INS. Through the estimated station position and radio navigation measuring information, INS/radio integrated navigation position is given, and then the station position is optimized and estimated by the integrated position information. Finally, according to the instant self-localization and station position estimation, the errors can be limited. The experimental results show that the proposed method can improve the performance of radio integrated navigation system.