一种新型车载GPS/DR组合定位方法  

New Method of GPS/DR Data Fusion for Land Vehicle

作　　者：王励扬 何文涛[1] 马成炎[1] 白晓莉[2] 

机构地区：[1]中国科学院大学,北京100049 [2]罗格斯新泽西州立大学,皮斯卡塔韦08854

出　　处：《计算机仿真》2015年第7期164-167,172,共5页Computer Simulation

摘　　要：为使GPS/DR系统更适合于车载应用环境并准确定位,根据车载导航的特点,首先提出了一种新的DR导航算法。新算法使得DR系统不再局限于东北天坐标系下水平面上的位置定位。新算法基于差分里程计方案,由车辆左右后轮上的车速脉冲获得车辆速度和偏航角的变化信息,并将上述信息转化为东北天坐标系下的速度矢量,依照所建立的地球模型和前一时刻的系统状态推导得出车辆当前时刻的经纬度。然后设计了一种新的数据融合算法将DR系统与GPS进行组合。改进算法实现简洁,可靠性高。仿真和实际跑车实验表明,改进方法能够满足车载导航定位应用的需求,提高了组合系统的定位精度,并能在GPS信号遮挡时继续保持连续可靠的定位。According to the characteristics of land vehicle navigation,a new DR navigation algorithm was proposed based on speed pulse. The new DR navigation algorithm does not limited to the local east-north flat plane,and can provide real-time latitude and longitude according to the earth model,based on velocity vector calculated under the east-north-up coordinate. Then a new data fusion method for GPS / DR integrated navigation system was developed in detail. This method has good robustness and is easier to be applied in industry. Simulation and field running experiments show that this method can satisfy the basic requirement of land vehicle navigation. It improves the degree of precision and is able to work even when GPS signals are masked.

关 键 词：地球模型 航位推算 数据融合 组合导航 

分 类 号：P228.41[天文地球—大地测量学与测量工程]