路网辅助的车载INS/GPS组合导航方法  

Method of land vehicle INS/GPS integrated navigation aided by road network constrains

作　　者：徐田来[1] 崔平远[1] 崔祜涛[1] 

机构地区：[1]哈尔滨工业大学深空探测基础研究中心,哈尔滨150001

出　　处：《控制与决策》2009年第3期398-402,共5页Control and Decision

基　　金：国家863计划项目(2006AA12Z305);国家自然科学基金项目(60774065)

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.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.

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 

分 类 号：TN967.2[电子电信—信号与信息处理]