基于简化车辆非完整约束辅助的低成本车载INS/GNSS 组合导航系统研究  

Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints

作　　者：冯木榉 翟昆朋[1] 蔺晓龙[1] 黄武康[3] 何文涛[1,2] FENG Mu-ju;ZHAI Kun-peng;LIN Xiao-long;HUANG Wu-kang;HE Wen-tao(Institute of Microelectronics of Chinese Academy of Sciences,Beijing 100020,China;University of Chinese Academy of Sciences,Beijing 100049,China;Jiaxing Microelectronics and System Engineering Center,Institute of Microelectronics of Chinese Academy of Sciences,Jiaxing 314001,China)

机构地区：[1]中国科学院微电子研究所,北京100020 [2]中国科学院大学,北京100049 [3]中国科学院微电子研究所嘉兴微电子与系统工程中心,浙江嘉兴314001

出　　处：《微电子学与计算机》2020年第8期78-82,共5页Microelectronics & Computer

基　　金：国家科技重大专项(2013ZX02310)。

摘　　要：针对采用低成本MEMS-IMU器件的INS/GNSS组合导航系统在GNSS信号中断时产生较大误差的问题,研究了一种基于车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统,针对系统的低成本特性对车辆非完整约束进行了简化,并据此推导了滤波算法的模型.仿真分析以及车载测试的结果均表明,对于消费级MEMS-IMU和GNSS接收机构成的低成本INS/GNSS组合导航系统,加入简化车辆非完整约束的辅助后,在GNSS信号中断1min期间组合导航位置误差小于行驶距离的3%.该约束的应用可以显著提高低成本车载INS/GNSS组合导航系统的精度.Aiming at solving the problem of large errors for INS/GNSS integrated navigation system with low cost MEMS-IMU device, during loss of GNSS signal, a low-cost vehicle INS/GNSS integrated navigation system based on assistance of vehicle non-holonomic constraints is studied. The vehicle non-holonomic constraints are simplified for the low-cost characteristics of the system, and the model of the filtering algorithm is derived accordingly. The results of simulation analysis and on-board testing show that, for the low-cost INS/GNSS integrated navigation system composed of consumer-grade MEMS-IMU and GNSS receiver, during 1 min loss of GNSS signal, the navigation position error is less than 3% of the driving distance, after adding the assistance of such simplified vehicle non-holonomic constraints. The application of such constraints can significantly improve the accuracy of low-cost vehicle INS/GNSS integrated navigation systems.

关 键 词：MEMS-IMU INS/GNSS组合导航 车辆非完整约束 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]