GPS/IMU/DMI组合导航方法研究  

A GPS/IMU/DMI Combined Navigation Method

作　　者：高扬 高逦[3] 乌萌[1,2] 王成宾 Gao Yang;Gao Li;Wu Meng;Wang Chengbin(State Key Laboratory of Geo-Information Engineering,Xi′an 710054,China;Xi′an Research Institute of Surveying and Mapping,Xi′an 710054,China;School of Computer Science,Northwestern Polytechnical University,Xi′an 710072,China)

机构地区：[1]地理信息工程国家重点实验室,陕西西安710054 [2]西安测绘研究所,陕西西安710054 [3]西北工业大学计算机学院,陕西西安710072

出　　处：《西北工业大学学报》2018年第2期396-402,共7页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(60803158)资助

摘　　要：利用可量测影像具有高精度空间位置信息的特点,提出了一种可量测影像与GPS、IMU组合导航方法。提出了系统框架,研究了可量测影像与道路网数据一体化组织方法,可量测影像与实时影像匹配定位算法,可量测影像与GPS、IMU联邦卡尔曼滤波导航模型。实验表明,新方法可以弥补车辆导航系统卫星信号失锁、惯性器件误差随时间累积发散等问题,提高了系统在复杂环境中定位精度和稳健性。According to the characteristics of DMI with high-precision position information,a navigation method combines DMIs with GPS and IMU is proposed in this paper.Firstly,the prototype system architecture is presented and its operational principle is discussed.Secondly,some key technologies are studied,which include integrated organization method of DMIs and road net data,the position method based on DMI matching with real-time image and the federal Kalman filter model with DMI,GPS and IMU.Finally,experimental results show that the proposed method can counteract GPS signal′s unlocking problem and the inertial component′s divergence for its error accumulation with time in a vehicle navigation system,whose positioning accuracy and robustness are improved in complex environment.

关 键 词：可量测影像 影像匹配 卫星导航系统 惯性测量单元 联邦卡尔曼滤波 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]