基于位置复合匹配的惯性/地图匹配组合定位算法  

Combined Positioning Algorithm of Inertial/Map Matching Based on Position Compound Matching

作　　者：张新岗 韩勇强[1] 谢志超 张路成 黄吴淼 ZHANG Xingang;HAN Yongqiang;XIE Zhichao;ZHANG Lucheng;HUANG Wumiao(School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《无人系统技术》2022年第6期57-65,共9页Unmanned Systems Technology

基　　金：国家自然科学基金青年基金(62003050)。

摘　　要：在卫星拒止条件下,基于矢量道路地图的惯性/地图匹配组合导航技术可以有效补偿惯导漂移误差,同时保持导航系统的自主性,具有很好的发展前景。针对现有的几何匹配算法方法较单一,误匹配率较高等问题,提出一种“点段”结合的匹配方法。首先,利用投影距离、夹角以及轨迹相关性的加权值筛选出候选道路;其次,充分利用历史匹配信息,引入裁决系统,对车辆行驶不同路段采用点匹配和段匹配复合分析模式,显著提高匹配精度与算法鲁棒性;最后,通过车载实验验证了该方法的有效性。测试结果表明,该方法可以有效抑制惯性导航误差发散,经算法抑制后惯导整体误差维持在15 m左右。研究可为后续惯性地图匹配组合导航技术提供支撑和新思路。Under the condition of satellite rejection, the inertial/map matching integrated navigation technology based on vector road map can effectively compensate the inertial navigation drift error and keep the autonomy of the navigation system. Aiming at the problems of single geometric matching algorithm and high mismatching rate, a matching method combining “Point Segment” is proposed. Firstly, the candidate paths are selected by using the weighted values of projection distance, included angle and trajectory correlation. Secondly, by making full use of the historical matching information and introducing the decision system, the point-matching and segment-matching composite analysis model is adopted for different road sections of vehicles, which greatly improves the matching precision and the robustness of the algorithm. Finally, the validity of the proposed method is verified by vehicle-borne experiments. The test results show that the proposed method can effectively restrain the divergence of inertial navigation error, and the overall error of inertial navigation is kept about 15m after the algorithm is restrained. The research can provide support and new ideas for the follow-up Inertial/Map matching integrated navigation technology.

关 键 词：惯性导航系统 地图匹配算法 电子地图 权值算法 垂直投影 Fréchet距离 误差修正 

分 类 号：U666.1[交通运输工程—船舶及航道工程]