【作者】 高振海； 于泳；

【Author】 Gao Zhenhai;Yu Yong;Jilin University,State Key Laboratory of Automobile Simulation and Control;

【机构】 吉林大学汽车仿真与控制国家重点实验室；

【摘要】 本文针对现有低成本车载级GPS定位精度偏低的问题,采用多模交互技术建立了汽车导航定位信息的数据融合算法。文中建立了描述汽车常规恒速运动的Clothoid模型与变速高机动性纵向运动的自适应变加速度模型,并通过模型交互、滤波、概率更新等状态估计算法实现了对汽车未来一段时间内可能达到区域的全覆盖性预测性描述,最终实现了基于低成本GPS和IMU的汽车行驶过程中导航定位信息的高精准航迹推算。真实道路交通环境下算法实测数据与高精度差分GPS测试数据的对比性分析表明算法对现有车载级GPS/INS系统定位精度有较好的提升效果。更多还原

【Abstract】 In order to improve the precision of vehicle positioning,the IMM-PDAF algorithm of vehicle positioning is presented.With the consideration of the vehicle kinematics and dynamic characteristics and the braking capacity under extreme accelerating situation,the Clothoid model which show longitudinal and lateral steady motion and Adaptive Current Statistics model which show the accelerating of the vehicle were established in the thesis.With this algorithm,the precision is improved based on the low-cost GPS and IMU with this algorithm.The comparative analysis to the differential GPS in the real traffic environment shows that the above algorithm can improve the precision of vehicle low- cost GPS.更多还原