移动窗口多普勒平滑伪距增强的GNSS/IMU/单目视觉紧组合定位  

GNSS/IMU/monocular vision tight combination localisation with Doppler smoothing pseudorange enhancement for moving window

作　　者：何进辛 高井祥[1] 潘诚 王永辉 HE Jinxin;GAO Jingxiang;PAN Cheng;WANG Yonghui(School of Environment and Spatial Informatics,China University of Mining and Technology,Xuzhou 221116,China)

机构地区：[1]中国矿业大学环境与测绘学院,江苏徐州221116

出　　处：《测绘通报》2025年第1期101-106,共6页Bulletin of Surveying and Mapping

基　　金：国家自然科学基金(42394065;42394060)。

摘　　要：本文针对在多源融合导航系统中GNSS伪距观测值受环境影响较大使得定位精度下降的问题,提出了基于移动窗口的多普勒平滑伪距算法。首先建立基于因子图优化的GNSS/IMU/单目视觉紧组合导航系统模型,然后使用开源数据集验证算法的有效性并与常规加权多普勒平滑伪距算法进行对比。结果表明,该算法在伪距定位中E、N和U 3个方向上定位精度分别达到1.591、2.892和2.001 m,定位精度分别提升了50.7%、61.7%、56.8%;在多源融合导航定位系统中定位精度分别达到1.390、2.561和1.606 m,比未平滑前的定位精度3个方向上分别提高了9.8%、20.0%和11.1%;同时该结果与常规加权多普勒平滑相比,定位精度分别提升了4.7%、3.1%、0.5%。In this paper,we propose a moving window-based Doppler smoothing pseudorange algorithm for multi-source fusion navigation systems where GNSS pseudorange observations are greatly affected by the environment,which results in a decrease in positioning accuracy.Firstly,we establish a GNSS/IMU/monocular vision tightly combined navigation system model based on the optimisation of the factor graph,and then we use open-source datasets to validate the algorithm and compare it with the conventional weighted Doppler smoothing pseudorange algorithm.and compared with the conventional weighted Doppler smoothing pseudo-ranging algorithm.The results show that the positioning accuracy of the algorithm in the three directions of E,N and U in pseudo-range positioning is 1.591,2.892 and 2.001 m respectively,and the positioning accuracy is improved by 50.7%,61.7%and 56.8%.The positioning accuracy of the multi-source fusion navigation and positioning system is 1.390,2.561 and 1.606 m,respectively,which is 9.8%,20.0%and 11.1%higher than the positioning accuracy in the three directions before smoothing.At the same time,compared with the conventional weighted Doppler smoothing,the positioning accuracy is improved by 4.7%,3.1%and 0.5%respectively.

关 键 词：多源融合导航 因子图 伪距 移动窗口 多普勒平滑 

分 类 号：P228[天文地球—大地测量学与测量工程]