| 路网辅助的车载INS/GPS组合导航方法 |
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| 引用本文： | 徐田来,崔平远,崔祜涛. 路网辅助的车载INS/GPS组合导航方法[J]. 控制与决策, 2009, 24(3) |
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| 作者姓名： | 徐田来 崔平远 崔祜涛 |
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| 作者单位： | 哈尔滨工业大学,深空探测基础研究中心,哈尔滨,150001 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，国家自然科学基金 |
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| 摘 要： | 针对车载INS/GPS组合导航系统在GPS无效时精度迅速下降的问题,提出了将车辆行驶的路网约束作为虚拟传感器,采用多传感器数据融合的方式,与INS和GPS组成INS/GPS/路网组合导航系统.当GPS失效时,使用路网辅助INS.仿真结果表明,在GPS无效时间段,该方法能有效减小系统定位误差.
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| 关 键 词： | 组合导航 数据融合 路网辅助 地图匹配 惯性导航系统/卫星定位系统 |
Method of land vehicle INS/GPS integrated navigation aided by road network constrains |
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| XU Tian-lai,CUI Ping-yuan,CUI Hu-tao. Method of land vehicle INS/GPS integrated navigation aided by road network constrains[J]. Control and Decision, 2009, 24(3) |
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| Authors: | XU Tian-lai CUI Ping-yuan CUI Hu-tao |
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| Affiliation: | Deep Space Exploration Research Center;Harbin Institute of Technology;Harbin 150001;China. |
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| Abstract: | The positioning error of INS/GPS will increase gradually during GPS outages.Therefore,a method of enhancing INS/GPS is presented.The road network constraints of land vehicle,regarded as a virtual sensor,are combined with INS and GPS to construct INS/GPS/road-network-constraints integrated navigation system by using methods of multi-sensor data fusion.Simulation results show that the proposed method can reduce the positioning error effectively during GPS outages. |
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| Keywords: | Integrated navigation system Data fusion Road network constrains Map matching INS/GPS |
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