GNSS/SINS组合导航系统在卫星遮挡场景下的定位性能分析  

Analysis of Positioning Performance of Low-cost GNSS/SINS Integrated Navigation System Under Satellite Occlusion Scenarios

作　　者：李彩玲 高雅萍[1] 李春花 江玲 LI Cailing;GAO Yaping;LI Chunhua;JIANG Ling(School of Earth Science,Chengdu University of Technology,Chengdu 610059,China;Chongqing Institute of Green and Intelligent Technology,Chinese Academy of Sciences,Chongqing 400045,China;School of Civil Engineering,Chongqing University,Chongqing 400045,China)

机构地区：[1]成都理工大学地球科学学院,四川成都610059 [2]中国科学院重庆绿色智能技术研究院,重庆400045 [3]重庆大学土木工程学院,重庆400045

出　　处：《无线电工程》2021年第10期1125-1133,共9页Radio Engineering

基　　金：重庆市基础研究与前沿探索专项项目(cstc2018jcyjAX0015);重庆市科学技术局技术创新与应用发展专项面上项目(cstc2019jscx-msxmX0051);四川省科技厅应用基础研究项目(2020YJ0362);四川省测绘地理信息学会科技开放基金(CCX202114);四川省科技计划资助项目(2018GZDZX0047);天津市科技计划项目(18YFYSZC00120)。

摘　　要：在卫星遮挡场景下,同一套低成本GNSS/SINS组合导航系统在不同机动状态下的定位性能有显著差异,有必要对其进行定量分析。在开阔场景下,对组合导航系统的定位性能进行了详细分析,对比了其在不同卫星遮挡场景下(转弯和直线行驶)的定位性能。探讨基于扩展卡尔曼滤波(EKF)的GNSS/SINS组合导航系统在满足相应精度条件下,允许丢失信号时长的最大阈值。实验结果表明,在开阔场景下,组合导航系统能提供亚米级的定位精度,满足车载场景基本定位需求;在卫星遮挡场景下,当丢失信号时长小于15 s时,处于转弯状态的组合导航系统仍能保持亚米级的定位精度;当机动状态为直线行驶状态时,时间阈值为10 s。当丢失相同时长卫星信号时,组合导航系统在转弯状态下的定位精度优于直线行驶。In the satellite occlusion scenario,the positioning performance of the same low-cost GNSS/SINS integrated navigation system under different maneuvering states is significantly different,and it is necessary to conduct a quantitative analysis on it.The positioning performance of the integrated navigation system in the open scenario is analyzed in detail,and its positioning performance under different satellite occlusion scenarios(turning and driving in a straight line)is compared.Discuss the maximum threshold of the EKF-based GNSS/SINS integrated navigation system under the condition of corresponding accuracy,which allows the loss of signal duration.Experimental results show that in the open scenario,the integrated navigation system can provide sub-meter positioning accuracy to meet the basic positioning requirements of the vehicle scene;in the satellite occlusion scene,when the signal loss duration is less than 15 s,the integrated navigation system in the turning state can still maintain sub-meter positioning accuracy;when the maneuvering state is the straight-line driving state,the time threshold is 10 s.When the satellite signal of the same duration is lost,the positioning accuracy of the integrated navigation system in the turning state is better than that of driving in a straight line.

关 键 词：卫星遮挡场景 组合导航 定位精度 扩展卡尔曼滤波 

分 类 号：P228[天文地球—大地测量学与测量工程]