智能车辆SINS/DGPS/光电测速仪组合导航的研究  

SINS/DGPS/Speedometer Integrated Navigation for Intelligent Vehicle

作　　者：李旭[1] 张为公[1] 

机构地区：[1]东南大学仪器科学与工程学院,南京210096

出　　处：《传感技术学报》2007年第6期1437-1442,共6页Chinese Journal of Sensors and Actuators

基　　金：江苏省汽车工程重点实验室开放基金资助项目资助(QC200603);江苏省交通科学研究计划项目资助(06C04);东南大学博士科研启动基金资助(4022001008)

摘　　要：为适应自主驾驶车辆的高精度、高频率与高可靠性的导航要求,本文对智能车辆的多传感器组合导航进行了研究.提出了一种双向光电测速仪和CP-DGPS共同辅助SINS的智能车辆组合导航方法,进行了仿真试验验证.结果表明,该组合导航系统能为智能车辆提供丰富的导航信息,并具有100Hz的高频输出、厘米级的导航精度和较强的容错能力,当GPS较长时间中断时,通过SINS/光电测速仪的组合仍能为智能车辆提供可靠的导航数据.To satisfy the navigation demands such as high accuracy, high frequency and high reliability for autonomous Intelligent Vehicle, a new multi-sensor integrated navigation technique is studied. An integrated navigation method in which SINS is aided by photoelectric speedometer and CP-DGPS is proposed. Then, simulation experiments are made. Simulation results show that the proposed navigation method can provide enough navigation information at 100Hz with cm-level navigation accuracy and good fault-tolerant ability. Even when GPS is continuously interrupted for a period, Intelligent Vehicle can still get reliable navigation information by SINS/Speedometer integration.

关 键 词：智能车辆 自主驾驶 组合导航 信息融合 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置]