移动机器人DGPS/DR组合导航技术研究  

Techniques for DGPS/DR Integrated Navigation of Mobile Robot

作　　者：任爱爱[1] 孙永荣[1] 马涛[1] 

机构地区：[1]南京航空航天大学自动化学院导航研究中心,江苏南京210016

出　　处：《机械与电子》2009年第3期58-61,共4页Machinery & Electronics

摘　　要：分析了变电站环境下DGPS的定位情况,针对该环境下GPS易受到干扰的特点,提出了DGPS/DR组合导航方案;通过对自主航位推算的误差特性的建模分析,设计了DGPS/DR组合导航算法;对实际环境下采集的DGPS,DR的数据进行了组合导航计算,结果表明:DGPS/DR组合导航系统克服了DGPS受干扰后的定位紊乱,提高了移动机器人的导航性能,达到了厘米级的导航精度.Aiming at the characteristics of DGPS signals was easy to be interfered because of the environmental condition of substation, the situation of DGPS in substation was analyzed in this paper,DGPS/DR integrated navigation project was proposed. Through the modeling analysis of error to autonomous dead reckoning, Arithmetic of DGPS/DR integrated navigation was designed. The data of the actual circumstances of DGPS and DR was analyzed and calculated, the result shows that DGPS/DR integrated navigation system overcomes the position disorder of DGPS when it is being interfered. The performance of mobile robot navigation system is improved. The requirement of navigation of robot - centimetre - level is met.

关 键 词：移动机器人 DGPS 航位推算 组合导航 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]