基于GNSS/SLAM组合高精度室内动态目标定位法  

High-Precision Indoor Dynamic Target Positioning Method Based on GNSS/SLAM Combination

作　　者：张晓娜[1] 张淑芳[1] ZHANG Xiao-na;ZHANG Shu-fang(College of Information Science and Technology,Dalian Maritime University,DalianLiaoning116026,China)

机构地区：[1]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《计算机仿真》2021年第3期465-469,共5页Computer Simulation

摘　　要：由于室内动态目标定位未及时探测与修复周跳值,导致位置、姿态误差较大、速度稳定性较低,提出基于GNSS/SLAM组合高精度室内动态目标定位方法。利用EMD分解含噪信号,从分解后的分量中获取噪声能量作为主导模态,提取有用信号能量作为主要分界点,去除高频信号,构建低频分量,实现低通滤波去噪;选取合适的阈值处理函数,使高频信号分量有效保留细节信号,实现高频分量去噪;对观测数据进行周跳探测与修复,探测与修复各个频率上发生的周跳,准确的实现室内目标定位;通过GNSS/SLAM组合建立室内动态目标定位方法,实现高精度目标定位。实验结果表明,定位位置、姿态误差较小,速度较为稳定,表明位置信息更加接近动态目标,即目标定位的精准度更高。The lack of detecting and repairing cycle slip in time for the current indoor dynamic target location methods leads to large position error and attitude error and low speed stability.Therefore,this paper proposes a high-precision indoor dynamic target location method based on GNSS/SLAM.First of all,the noisy signal was decomposed by the use of EMD.The noise energy was obtained from the decomposed components as the dominant mode.The useful signal energy was extracted as the main cut-off point.Then,the high-frequency signal was eliminated,the low-frequency component was established,and the low-pass filtering was achieved.Secondly,the appropriate threshold processing function was selected for keeping the detail signal effectively,thus high frequency component denoising was realized.Then,cycle slip detection and repair of the observation data were carried out,and the cycle slips on each frequency were detected and repaired for achieving the indoor target positioning accurately.Finally,based on the combination of GNSS/SLAM,the indoor dynamic target location method was established,thus the high-precision target positioning was achieved.The simulation results show that this method has small positioning position and attitude error,and stable speed,which implies that the position information is closer to the dynamic target,namely,the target positioning accuracy is higher.

关 键 词：室内动态定位 高精度目标定位 信息预处理 周跳探测与修复 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]