基于SLAM辅助的INS/无线电组合定位方法  

Radio Integrated Navigation Method Based on SLAM

作　　者：樊建文[1] 李城梁[1] FAN Jianwen;LI Chengliang

机构地区：[1]中国电子科技集团公司第二十研究所,西安710068

出　　处：《现代导航》2016年第4期235-238,共4页Modern Navigation

摘　　要：针对卫导拒止且陆基无线电导航台站坐标未知的情况下,无线电组合导航方式难以应用的问题,本文提出了一种基于同时制图与定位(SLAM)辅助的无线电组合定位方法。首先,通过无线电导航传感器的测距和测角信息,结合惯导系统(INS)输出的位置信息来估算无线电导航台站位置。然后,由估算的台站位置和无线电导航测量信息进行INS/无线电组合定位,再由组合定位信息优化估算台站位置。最终,通过即时的进行自身定位和台站位置估计抑制INS的发散。实验结果表明:该方法在卫导拒止和未知环境下可改善组合导航的性能。Focus on the problem that radio integrated navigation cannot be used when there is no GPS signal and coordinatesof radio station, this paper proposed an integrated method using simultaneous localization and mapping (SLAM) information. Firstly,according to the measuring information of radio navigation sensor, the position of radio navigation station is estimated combinedwith the position information of INS. Through the estimated station position and radio navigation measuring information, INS/radiointegrated navigation position is given, and then the station position is optimized and estimated by the integrated position information.Finally, according to the instant self-localization and station position estimation, the errors can be limited. The experimental resultsshow that the proposed method can improve the performance of radio integrated navigation system.

关 键 词：同时制图与定位 无线电组合导航 

分 类 号：TN967[电子电信—信号与信息处理]