车辆模型辅助惯性导航技术研究综述  

A Review of Vehicle Model-aided Inertial Navigation System

作　　者：杜滨瀚 权与时 李峻翔 DU Binhan;QUAN Yushi;LI Junxiang(College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学智能科学学院,长沙410073

出　　处：《无人系统技术》2025年第2期19-35,共17页Unmanned Systems Technology

基　　金：湖南省自然科学基金(2025JJ60425);国家自然科学基金(62103431,U21A20518)。

摘　　要：自主导航技术是地面无人平台在复杂环境下实现韧性导航的核心基础,车辆模型辅助惯性导航则是近年来发展迅速的一种自主导航技术,具有全自主、低成本、低功耗等一系列优势,其精度相较于惯性/里程计这类传统的自主导航方式有着显著提升。首先,介绍了车辆模型辅助惯性导航技术的典型架构和主要流程,梳理了常用的车辆模型;其次,综述了三类基于不同模型的技术发展现状,对比分析了三者的特点;最后重点讨论了此项技术目前亟待解决的问题并对未来可能的研究方向进行了展望。综述表明,车辆模型和惯性导航是对同一物理规律的不同描述形式,车辆模型辅助惯性导航技术则是融合二者优势的有效方法,未来可以围绕以下主题开展进一步研究:多种模型共同辅助的车辆模型辅助惯性导航技术、对模型参数初始误差不敏感的车辆模型辅助惯性导航方法以及车辆模型和惯性导航技术融合的新架构。Autonomous navigation technologies represent the fundamental basis for unmanned ground vehicles to achieve resilient navigation capabilities in complex environments.Vehicle Model-aided Inertial Navigation System(VM-AINS)is a category of autonomous navigation technology that has witnessed a period of rapid development in recent years.VM-AINS has a series of advantages,including the high autonomy,low cost,and low power consumption.Furthermore,its accuracy is enhanced in comparison to the traditional autonomous navigation method such as INS/odometer integration systems.Firstly,this paper introduces the typical architecture and main processes of VM-AINS and comparatively analyzes the commonly used vehicle models.Secondly,the developments are reviewed for three categories of VM-AINS methods which are based on different models,and their characteristics are compared and analyzed.Finally,the remaining problems in VM-AINS are discussed,and the potential future research directions are analysed.The review demonstrates that vehicle models and inertial navigation represent two distinct descriptions of the same physical phenomenon,and VM-AINS is an effective approach that combines the advantages of both.Future research can focus on the following topics:VM-AINS methods based on multiple models,VM-AINS that insensitive to initial errors of model parameters,and new architectures for the integration of vehicle model and INS.

关 键 词：地面无人平台 多源信息弹性融合 车载自主导航 惯性导航 非完整约束 车辆运动学模型 车辆动力学模型 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]