附加速度先验信息的车载GPS/INS/Odometer组合导航算法  

GPS/INS/Odometer Integrated Navigation Algorithm with Prior Velocity in Land Vehicle System

作　　者：吴富梅[1,2] 杨元喜[2] 

机构地区：[1]信息工程大学测绘学院,郑州450052 [2]西安测绘研究所,西安710054

出　　处：《宇航学报》2010年第10期2314-2320,共7页Journal of Astronautics

基　　金：国家自然科学基金项目(40774001);863计划(2007AA12Z331);卫星导航与定位教育部重点实验室(B类)开放基金;信息工程大学博士研究生学位论文创优基金

摘　　要：在GPS/INS车辆组合导航中,GPS信号易受外界干扰而失锁。针对INS单独导航误差迅速累积的问题,在利用速度先验信息辅助INS导航的基础上,加入Odometer观测信息,提高了系统的可观测性和导航精度;另外提出了改进的位置修正法,即不直接利用状态估值修正位置,而是用修正后的速度推算位置。实测算例结果表明,与INS单独导航相比较,采用速度先验信息,提高了载体速度精度,采用改进的位置修正方法,位置精度有大幅度提高;在此基础上加入Odometer观测信息,位置和速度精度得到进一步改善。When GPS outages occur in a land vehicle navigation system,INS navigation error will be cumulated quickly. In this paper,the Odometer observations are added to the measurement equation to improve the system observability and navigation accuracy based on prior velocity. And a new method is implemented for position modification. By calculation,it is shown that compared with INS navigation,the velocity accuracy is improved with prior velocity. And with applying the new position modification method,the position accuracy is improvedgreatly. After the Odometer observations are added to the measurement equation,both position accuracy and velocity accuracy are improved further.

关 键 词：速度先验信息 GPS/INS ODOMETER 组合导航 

分 类 号：P228[天文地球—大地测量学与测量工程]