北斗/SINS/OD组合导航定位终端设计  

Design of Beidou/SINS/OD integrated navigation and positioning terminal

作　　者：邢昱翔 赵英亮[1] 姚金杰[1] 姚焕钰 邹宇 薛晓东 刘蔚 XING Yuxiang;ZHAO Yingliang;YAO Jinjie;YAO Huanyu;ZOU Yu;XUE Xiaodong;LIU Wei(Institute of Signal Capturing&Processing Technology,Key Laboratory of Shanxi Province,North University of China,Taiyuan 030051,China;Inner Mongolia Aerospace Power Machinery Testing Institute,Huhehaote 010060,China)

机构地区：[1]中北大学信息探测与处理山西省重点实验室,太原030051 [2]内蒙航天动力机械测试所,呼和浩特010060

出　　处：《集成电路与嵌入式系统》2024年第1期83-88,共6页INTEGRATED CIRCUITS AND EMBEDDED SYSTEMS

基　　金：内蒙古自治区科技计划项目(2022YFSJ0031);山西省重点研发计划(202102010101002);国防基础研究计划项目(JCKY2021210B073,JCKY2022209A001)。

摘　　要：针对常见组合导航系统在隧道、峡谷、森林等卫星信号较弱甚至出现失锁状况的地区,定位精度会迅速下降的问题,设计了北斗/捷联惯导(SINS)/里程计(OD)组合导航定位终端。终端设计以OMAPL137处理器为核心,包括北斗、SINS、里程计、4G通信和电源等模块。数据处理部分以北斗导航接收机和根据SINS/OD推算分别得到的伪距、伪距率之间的差值作为量测值,使用拓展卡尔曼(EKF)滤波算法进行数据融合与误差估计。实验结果表明,北斗/SINS/OD组合导航定位终端在卫星失锁情况下行驶总里程5 km时最大位置误差为46.82 m,误差漂移为0.94%,能够有效解决卫星信号受遮蔽导致定位精度下降的问题,实现平滑载体运行轨迹并提高导航定位精度。Aiming at the problem that the positioning accuracy of common integrated navigation systems will decline rapidly in areas with weak satellite signals such as tunnels,canyons,forests,etc.,a Beidou/strapdown inertial navigation(SINS)/odometer(OD)integrated navigation and positioning terminal is designed.The terminal design takes OMAPL137 processor as the core,including Beidou,SINS,odometer,4G communication and power supply modules.The data processing part takes the difference between the Beidou navigation receiver and the pseudo range and pseudo range rate calculated according to SINS/OD as the measured value,and uses the extended Kalman filter(EKF)algorithm for data fusion and error estimation.The experiment results show that the maximum position error of Beidou/SINS/OD integrated navigation and positioning terminal is 46.82 m and the error drift is 0.94%when the total mileage is 5 km when the satellite is unlocked,which can effectively improve the problem of positioning accuracy decline caused by the obscuration of satellite signals,smooth the vehicle trajectory and improve the navigation and positioning accuracy.

关 键 词：北斗 SINS OD OMAPL137 

分 类 号：TN962[电子电信—信号与信息处理]