附加TDCP约束的无人船载GNSS/MEMS组合导航方法  

GNSS/MEMS integrated navigation method for unmanned surface vehicle with TDCP constraints

作　　者：向民志 柴洪洲[1] 黄紫如 刘春鹤 白腾飞 XIANG Minzhi;CHAI Hongzhou;HUANG Ziru;LIU Chunhe;BAI Tengfei(Geography Space Information Institute,Information Engineering University,Zhengzhou 450001,China;Troops 32022,Guangzhou 510000,China)

机构地区：[1]战略支援部队信息工程大学地理空间信息学院,郑州450001 [2]战略支援部队32022部队,广州510000

出　　处：《中国惯性技术学报》2023年第4期366-374,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(42074014)。

摘　　要：针对无人船用GNSS SPP与MEMS进行组合导航时存在的定位误差大、鲁棒性差等问题,提出了一种附加TDCP约束的无人船载GNSS/MEMS组合导航方法。采用因子图方法构建无人船GNSS/MEMS组合导航系统模型,利用多频TDCP求解的历元间精密位置增量进行约束,并使用增量平滑算法进行状态估计。通过实际无人船试验,设计了六种组合方案进行性能评估,结果表明,加入多频TDCP约束后,横滚和俯仰角精度优于0.2°,航向角精度优于1°;北向、东向、地向的定位精度分别为0.270 m、0.201 m和0.464 m,最大定位误差小于0.5 m。与无此类约束相比,所提方法提高了无人船定位的精度和鲁棒性,且求解轨迹更平滑。Aiming at the problems of large positioning error and poor robustness in the integrated navigation of GNSS single point positioning(SPP)and MEMS for unmanned surface vehicle(USV),a GNSS/MEMS integrated navigation method with time-differenced carrier phase(TDCP)constraint is proposed.The GNSS/MEMS integrated navigation system model of USV is constructed by the factor graph method.The multi-frequency TDCP is used to constrain the precision position increment between the periods,and the state estimation is carried out by the incremental smoothing algorithm.Six combined schemes are designed for performance evaluation through the actual USV tests.The results show that the accuracy of roll and pitch angle is better than 0.2°and the accuracy of yaw angle is better than 1°after adding the multi-frequency TDCP constraint.The positioning accuracy in the north,east and ground directions is 0.270 m,0.201 m and 0.464 m respectively,and the maximum positioning error is less than 0.5 m.Compared with no such constraint,the proposed method improves the accuracy and robustness of USV positioning,and the solution trajectory is smoother.

关 键 词：因子图 无人船 多频TDCP 组合导航 

分 类 号：U666.1[交通运输工程—船舶及航道工程]