【作者】 李灯熬； 贾璇； 赵菊敏； 许强； 张沛；

【Author】 LI Deng-ao;JIA Xuan;ZHAO Ju-min;XU Qiang;ZHANG Pei;Taiyuan university of Technology;

【机构】 太原理工大学信息工程学院；

【摘要】 针对复杂环境中GNSS信号被遮挡出现的卫星信号失锁和INS测量误差积累的问题。已经提出的深组合GNSS/INS可以改善较差GNSS信号环境中的定位精度,但GNSS信号在长时间内不可用时,考虑到INS无法独立约束传感器误差和定位精度。本文提出了一种基于扩展卡尔曼滤波的SLAM(simultaneous localization and mapping,即时定位和制图辅助)/GNSS/INS的组合导航算法。首先,在GNSS信号良好的时候,利用卫星确定出定位目标的位置,并利用SLAM去实时观测和更新环境特征标志,当GNSS信号被遮挡时,通过观测定位目标与环境特征标志之间的相对位置,得到定位目标的测量估计值。然后,用所得的测量估计值去修正INS参数,消除累积误差,并将修正后的参数返回到接收机端,使接收机下次较快的重新锁定信号。通过实验仿真分析,对比了GNSS/INS深组合和SLAM/GNSS/INS深组合在GNSS信号良好、差、和完全丢失的环境中的定位误差。实验结果表明,深组合SLAM/GNSS/INS系统能有效提高GNSS信号长时间被遮挡时接收机的定位精度。更多还原

【Abstract】 In view of the problems of satellite signals losing lock and INS measurement errors accumulating when the GNSS signals have been occluded for a long time.A GNSS/INS deeply-coupled system has been studied and used to improve the positioning accuracy in the poor GNSS signals environment.However,if the GNSS signals have been occluded for a long time,considering that the INS can not independently restrain sensor errors and positioning accuracy.This paper proposes an integrated navigation algorithm for deeply coupled SLAM(Simultaneous Localization and Mapping)/GNSS/INS based on extended Kalman filter.First,when the GNSS signals are stable,to use the satellites positioning is to determine the location of the target,and to use the SLAM is to real-time observe and update the environment characteristics.When the GNSS signals are occluded,By observing the relative position between the targets and the environmental characteristics,the estimated value of the target is obtained.Then,The estimated INS value is corrected to eliminate the cumulative error and return the corrected parameters to the receiver end,so that the receiver can relocate the signal next time.Through the experimental analysis,the positioning errors of the deeply coupled GNSS/INS and the deeply coupled SLAM/GNSS/INS in the environment of good,poor and completely lost GNSS signals are compared.The experimental results show that the deeply coupled SLAM/GNSS/INS system can effectively improve the positioning accuracy of the receiver when the GNSS signals are occluded for a long time.更多还原