一种面向智能移动终端的iPDR/GNSS组合导航方法  

An iPDR/GNSS integrated navigation method for intelligent mobile terminals

作　　者：王振杰[1] 胡超[1] 聂志喜[1] 张远帆 WANG Zhenjie;HU Chao;NIE Zhixi;ZHANG Yuanfan(College of Oceanography and Space Informatics,China University of Petroleum,Qingdao 266580,China)

机构地区：[1]中国石油大学(华东)海洋与空间信息学院,青岛266580

出　　处：《中国惯性技术学报》2025年第1期55-63,69,共10页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金青年基金项目(42104011);山东省自然科学基金青年基金项目(ZR2021QD069)。

摘　　要：针对现有行人航位推算(PDR)方法存在误差积累并且定位与航向精度较低,从而导致PDR/全球导航卫星系统(GNSS)组合导航精度下降的问题,提出了一种面向智能移动终端的改进的PDR(iPDR)/GNSS组合导航方法。首先,设计了一种iPDR定位方法,将GNSS载波相位历元差分技术计算的航向角引入PDR航向估计中,减小由陀螺漂移引起的航向累积误差。其次,基于因子图优化将GNSS绝对位置与iPDR定位结果相融合。最后,利用智能手机采集的实测数据对所提方法进行验证。实验结果表明:与传统PDR方法相比,iPDR方法的定位精度提高了62.0%,航向精度提高了33.7%;与基于卡尔曼滤波的iPDR/GNSS组合方法相比,基于因子图优化的iPDR/GNSS方法在定位精度上提高了39.8%,有效提高了组合导航系统的精度。Aiming at the problems of error accumulation and low positioning and heading accuracy in existing pedestrian dead reckoning(PDR)methods,which lead to a decline in PDR/global navigation satellite system(GNSS)integrated navigation accuracy,an improved PDR(iPDR)/GNSS integrated navigation method for intelligent mobile terminals is proposed.Firstly,an iPDR method is designed,which introduces the heading angle calculated by GNSS carrier phase epoch difference technology into PDR heading estimation to reduce the heading accumulation error caused by gyroscope drift.Secondly,based on the factor map optimization,the absolute position of GNSS and the iPDR positioning results are fused.Finally,the measured data collected by smart phones are used to verify the proposed method,and the experimental results show that compared with the traditional PDR method,the iPDR method improves the positioning accuracy by 62.0%and the heading accuracy by 33.7%.Compared with the iPDR/GNSS combination method based on Kalman filter,the iPDR/GNSS method based on factor map optimization improves the positioning accuracy by 39.8%,which effectively improves the accuracy of the integrated navigation system.

关 键 词：改进行人航位推算 组合导航 智能移动终端 载波相位差分 因子图优化 

分 类 号：P228[天文地球—大地测量学与测量工程]