面向城市车载导航的多系统PPP-RTK/VIO半紧组合算法性能分析  

Analysis of Semi-tightly Coupled Multi-GNSS PPP-RTK/VIO for Vehicle Navigation in Urban Areas

作　　者：辜声峰[1] 戴春齐 何成鹏 方礼喆 王梓豪 GU Shengfeng;DAI Chunqi;HE Chengpeng;FANG Lizhe;WANG Zihao(GNSS Research Center,Wuhan University,Wuhan 430079,China;School of Mathematics and Statistics,Wuhan University,Wuhan 430072,China;School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China)

机构地区：[1]武汉大学卫星导航定位技术研究中心,湖北武汉430079 [2]武汉大学数学与统计学院,湖北武汉430072 [3]武汉大学测绘学院,湖北武汉430079

出　　处：《武汉大学学报（信息科学版）》2021年第12期1852-1861,共10页Geomatics and Information Science of Wuhan University

基　　金：国家自然科学基金(42174029);国家重点研发计划(2016YFB0501802)。

摘　　要：PPP-RTK(precise point positioning real time kinematic)是一种具有潜力的定位技术,它既避免了RTK(real time kinematic)覆盖范围受限的缺陷,又解决了PPP(precise point positioning)收敛速度慢的问题。但在城市复杂环境下,由于信号遮挡严重,PPP-RTK无法实现高精度连续定位。惯性导航(inertial navigation system,INS)和视觉导航能提供连续的定位信息,但存在误差漂移,由此提出多系统PPP-RTK/VIO(visual inertial odometry)半紧组合算法,并在武汉大学校园内采集车载数据进行验证。实验结果显示,多系统PPPRTK/VIO半紧组合在定位表现上相比于GPS(global positioning system)+BDS(BeiDou navigation satellite system),PPP-RTK能带来超过30%的精度提升,达到平面0.58 m,高程1.12 m。多系统PPP-RTK/VIO半紧组合的测速和姿态估计性能也较好,测速精度在北向、东向和地向分别达到0.04 m/s、0.04 m/s和0.02 m/s,横滚角、俯仰角和航向角估计精度分别达到0.10°、0.06°和0.17°。Objectives:PPP-RTK(precise point positioning real-time kinematic)is an effective positioning method,for it eliminates the limitations of regional service coverage in RTK(real-time kinematic)and long convergence time in PPP(precise point positioning).However,it is difficult for PPP-RTK to provide continuous and precise positioning results in urban areas for the signals are blocked.Inertial navigation system(INS)and visual navigation can provide continuous navigation information but suffers from error drifts.So,we proposed semi-tightly coupled multi-GNSS(global navigation satellite system)PPP-RTK/VIO(vision inertial odometry)model to complement each other.Methods:In order to evaluate the performance of the integration model,firstly,we collected data in the campus of Wuhan University.Secondly,we used the data to test the integration model and compared the result with other solutions.Results:The result shows that semi-tightly coupled multi-GNSS PPP-RTK/VIO can improve the positioning accuracy by more than 30%in comparison to GPS(global positioning system)+BDS(BeiDou navigation satellite system)PPP-RTK.Its accuracy is 0.58 m and 1.12 m in horizontal and vertical direction,respectively.Moreover,it also performs well in velocity and pose estimation.The accuracy of velocity estimation is 0.04 m/s,0.04 m/s and 0.02 m/s,respectively,and the accuracy of pose estimation are 0.10°,0.06°and 0.17°,respectively.Conclusions:Semi-tightly coupled multi-GNSS PPP-RTK/VIO can make use of their own advantages,improve the positioning performance of PPP-RTK and realize better velocity and pose estimation.

关 键 词：PPP-RTK 视觉惯性里程计 车载导航 非差非组合 PPP-RTK/VIO半紧组合 

分 类 号：P228[天文地球—大地测量学与测量工程]