| 低速运动载体在参考地图上的定位研究 |
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| 引用本文： | 冯浩,邓中亮.低速运动载体在参考地图上的定位研究[J].北京邮电大学学报,2005,28(3):52-54. |
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| 作者姓名： | 冯浩 邓中亮 |
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| 作者单位： | 北京邮电大学,电子工程学院,北京,100876;景德镇陶瓷学院,机械电子工程系,景德镇,333001;北京邮电大学,电子工程学院,北京,100876 |
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| 摘 要： | 在分析了低速运动载体利用参考地图定位辅助惯性导航系统（INS）的特点之后，认为现有的匹配定位算法不适应修正低速航行运动载体的INS误差，因而相应地提出了一种单步等值线匹配算法. 在该算法中加入了误匹配判断和惯性导航与匹配定位方法之间的转换逻辑判断，以保证算法的有效性和稳定性. 仿真结果表明，在可匹配区其定位精度与地图格网间距相关，圆概率误差(CEP)可以达到地图网格间距的0 7倍.
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| 关 键 词： | 参考地图 定位 等值线 惯性导航系统 |
| 文章编号： | 1007-5321(2005)03-0052-03 |
| 修稿时间： | 2004年4月21日 |
The Study on Low Speed Vehicle Localization on Reference Map |
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| FENG Hao,DENG Zhong-liang.The Study on Low Speed Vehicle Localization on Reference Map[J].Journal of Beijing University of Posts and Telecommunications,2005,28(3):52-54. |
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| Authors: | FENG Hao DENG Zhong-liang |
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| Affiliation: | 1 School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China; 2 School of Mechanical and Electronic Engineering Department, Jingdezhen Ceramic Institute, Jiangdezhen 333001, China |
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| Abstract: | The traditional map matching algorithms used in aided inertial navigation system (INS), such as terrain contour matching (TERCOM) and Sandia inertial terrain aided navigation (SITAN) algorithms were investigated of not meeting the requirement of low speed vehicle localization on the reference map. A single step localization algorithm based on map contour was put forward. To ensure its validity and stability, two judgments on miss matching point and switch between INS and map (localization) were determined in this algorithm. The result of simulation indicates that the positioning (accuracy) can be determined by the resolution of reference map, also indicates that the circle of equal probability (CEP) is 0.7 times of the resolution with a middling INS in this algorithm. |
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| Keywords: | reference map localization contour inertial navigation system |
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