GPS/BDS和IMU融合技术在无人配送车定位解算中应用研究  

Application of GPS/BDS and IMU fusion technology in positioningsolution of unmanned distribution vehicle

作　　者：张青春[1] 周玲[1] 吴峥 Zhang Qingchun;Zhou Ling;Wu Zheng(Huaiyin Instituteof Technology,Huai'an 223003,China)

机构地区：[1]淮阴工学院,淮安223003

出　　处：《电子测量技术》2022年第21期36-41,共6页Electronic Measurement Technology

基　　金：江苏省研究生实践创新计划项目(SJCX21_1506)资助。

摘　　要：为了提高无人配送车定位精度,将GPS/BDS和惯性测量单元(IMU)多传感器融合技术用于无人配送车定位系统。为了解决GPS/BDS和IMU定位解算时产生的信号缺失和累计误差而导致的定位精度不高,抗干扰差等问题。本文采用CKF算法将GPS/BDS和(捷联惯导)SINS解算出的定位结果进行滤波处理,从而提高定位精度。当GPS/BDS定位接收模块信号缺失时,将IMU提供的数据结合SINS算法解算出无人配送车的当前位置;在IMU定位过程出现的累计误差问题处理上,利用CKF处理过GPS/BDS接收机数据进行矫正。为了验证融合GPS/BDS和IMU的定位解算方法的优越性,实验中使用单个BDS定位系统进行定位结果比较。实验结果表明,使用本文所述方法速度误差减少了27.89%,位置误差减少了38.81%,能有效提高无人配送车在配送物品的过程中定位的精确度和稳定性。In order to improve the positioning accuracy of the unmanned distribution vehicle, the GPS/BDS and IMU multi-sensor fusion technology is applied to the positioning system of the unmanned distribution vehicle. To solve the problems of low positioning accuracy and poor anti-interference which caused by signal loss and cumulative error in GPS/BDS and IMU positioning solution. In this paper, CKF algorithm is used to filter the positioning results from GPS/BDS and sins. That it will improve the positioning accuracy. When the GPS/BDS positioning receiving module signal is missing, combine IMU which provides data set and SINS algorithm to get the current position of the unmanned distribution vehicle;In dealing with the cumulative error in IMU positioning process, CKF is used to correct the GPS/BDS receiver data. In order to verify the superiority of the positioning solution method integrating GPS/BDS and IMU, a single BDS positioning system is used in the experiment to compare the positioning results. The results show that the method used in this paper reduces the speed error by 27.89% and the position error by 38.81%, which can effectively improve the positioning accuracy and stability of the unmanned distribution vehicle in the process of delivering goods.

关 键 词：GPS/BDS双定位系统 定位解算 SINS 容积卡尔曼滤波 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置] TB9[自动化与计算机技术—控制科学与工程]