陆地载体导航中的单频DGPS、INS以及里程表的集成

Tightly integrated single frequency DGPS, INS and odometer for land vehicle navigation

为了提高导航设备的可用性,保证用户即使在类似峡谷的地带也可以接收到GPS信号,研究了一个低成本集成导航测量组件(IMU)、单频DGPS(SFDGPS)和速度传感器的载体跟踪和导航系统.通过对扩展Kalman滤波系统动态、残差和测量模型的演化,详细地阐述了系统集成的算法.并且对系统动态以及测量模型的运行进行了分析.该系统可以达到分米级的位置误差,厘米级的速度误差,0.2度的姿态角度误差,以及高于100Hz的输出更新频率.系统高精度、低成本,适用于任何状态的导航以及高频率的输出,可以用于诸如载体跟踪、航空、自动采矿以及精细农业等广泛的应用领域.

The paper describes a navigation system that tightly integrates low-cost Inertial Measurement Unit (IMU), Single Frequency DGPS (SF DGPS), and odometer for land vehicle tracking and navigation. The motivation of the technique is for reliable navigation, even when some of the GPS signal is blocked in the Canyon area. The paper give the detail methodology of the system integration by deriving the system dynamic, residual, and measurement models for the extended Kalman filter. Performance analysis is performed based on both the system dynamic and measurement models. The system yields the performance of decimeter position accuracy, centimeter velocity accuracy, 0.2 degree attitude accuracy, and more than 100 Hz update rate output. Due to its high accuracy, low-cost, full navigation states, and high output rate, the system has wide applications, such as vehicle tracking, aviation, automatic mining, and precise farming.