基于车辆运动模型辅助的智能手机平台车载组合导航算法  

Vehicle integrated navigation algorithm based on kinematical model for intelligent mobile phone platform

作　　者：许建新[1] 熊智[1] 刘建业[1] 黄欣[1] 张苗[1] XU Jian-xin XIONG Zhi LIU Jian-ye HUANG Xin ZHANG Miao(Navigation Research Center, Nanjing University of Aeronautics ＆ Astronautics, Nanjing 211106, China)

机构地区：[1]南京航空航天大学导航研究中心,南京211106

出　　处：《中国惯性技术学报》2017年第2期203-208,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61533008;61374115;61533009;61673208);江苏省"333工程"科研资助立项项目(BRA2016405);留学人员择优资助项目(2016年);江苏省六大人才高峰资助项目(2013-JY-013);航空科学基金项目(20165552043);江苏高校优势学科建设工程项目和江苏省"物联网与控制技术"重点实验室基金资助;中央高校基本科研业务费专项资金资助(NS2017016;NZ2016104);江苏省普通高校研究生科研创新计划项目(KYLX15_0264)

摘　　要：随着智能手机硬件性能的提升以及MEMS传感器技术的发展和应用普及,现有中高端智能手机平台中大多安装有消费级的微惯性测量单元和GPS接收机模块,将这两者相互结合,利用一定的信息融合方法,即可实现连续的车载导航定位。在智能手机平台中所采用的消费级MEMS惯性传感器模块其精度很低,通常难以满足车载DR导航算法的性能需求;同时在车辆行驶过程中,不可避免会经过高架、隧道等路径,也会导致GPS信号受到遮挡和屏蔽从而无法定位。针对以上问题,设计了适用于智能手机平台的基于车辆运动模型辅助的车载DR/GPS组合导航方案,推导建立了基于车辆侧向速度约束的组合导航算法模型,并以智能手机作为验证平台,测试验证了所设计的算法在无GPS环境下,采用智能手机平台中的消费级MEMS惯性测量组件,仍然可以在短时间内维持较高的导航定位性能。With the improvement of smartphone hardware performance and the development of the MEMS sensor technology, most of the existing mid-and high-end smartphone platforms have installed the consumer micro inertial measurement unit. Combined with GPS receiver, it is easy to obtain the information of position and velocity and realize continuous positioning. Due to the low precision of the consumer MEMS inertial sensor module in the intelligent mobile phone platform, it is difficult to meet the requirements of the vehicle navigation algorithm. In addition, the vehicle will inevitably go through the elevated, tunnels or other specific path in the running process, thus the GPS signal could be blocked and cannot work under these circumstances. To solve these problems, a DR/GPS integrated navigation scheme applicable for smartphone platform is designed based on the vehicle kinematical model. The results of road tests show that the designed method can effectively restrain the error divergence of the pure DR algorithm in the absence of GPS positioning information, and realize continuous accurate positioning. This method has the important engineering application value.

关 键 词：车载导航 车辆运动模型 组合导航 卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]