基于双OD修正的GNSS/MIMU导航算法研究  

Research on GNSS/MIMU Navigation Algorithm Based on Dual OD Correction

作　　者：叶忠昌 赵忠华[1] 叶鑫 YE Zhongchang;ZHAO Zhonghua;YE Xin(School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《压电与声光》2023年第2期213-219,238,共8页Piezoelectrics & Acoustooptics

基　　金：国家重点研发计划基金资助项目(2018YFB2003300);上海汽车工业科技发展基金会资助项目(1718)。

摘　　要：为提高车载组合导航系统的导航精度和可靠性,在全球导航卫星系统(GNSS)信号正常工作的情况下,该文建立了一种双天线GNSS/微惯性测量单元(MIMU)/轮速里程计(OD)组合导航模型,实现了对MIMU和OD传感器误差特性的在线估计。在GNSS信号短期失锁的情况下,基于双OD轮速比例修正(WRC)算法建立了MIMU/双OD组合导航模型。车载实验结果表明,与无WRC组合模型相比,该文设计的组合导航模型在120 s的GNSS信号失锁路段,最大定位误差减小了63.9%,定位误差标准差减小了80.1%;在200 s时GNSS信号频繁中断路段,最大位置误差为0.55 m。验证了所建立的导航模型和算法在复杂路况下工作的有效性。In order to improve the accuracy and reliability of the vehicle integrated navigation system,when the Global Navigation Satellite System(GNSS)signal is valid,a dual-antenna GNSS/MIMU/OD integrated navigation model is established and the on-line estimation of the error characteristics of miniature inertial measurement unit(MIMU)and odometer(OD)is realized.During the short-term interruption of the GNSS signal,a MIMU/dual OD integrated navigation model is established based on the dual OD wheel speed ratio correction(WRC)algorithm.The on-vehicle experimental results show that when the GNSS signal is interrupted for 120 s,the maximum positioning error is reduced by 63.9%and the standard deviation of positioning error is reduced by 80.1%compared with the model without WRC.When the GNSS signal is frequently interrupted for 200 s,the maximum position error is 0.55 m.The effectiveness of the established navigation model and algorithm on complex road conditions is verified.

关 键 词：车载组合导航 双天线GNSS 轮速比例修正 双里程计 微惯性测量单元(MIMU) 

分 类 号：TN98[电子电信—信息与通信工程] TP212.9[自动化与计算机技术—检测技术与自动化装置]