摘要
为适应自主驾驶车辆的高精度、高频率与高可靠性的导航要求,本文对智能车辆的多传感器组合导航进行了研究.提出了一种双向光电测速仪和CP-DGPS共同辅助SINS的智能车辆组合导航方法,进行了仿真试验验证.结果表明,该组合导航系统能为智能车辆提供丰富的导航信息,并具有100Hz的高频输出、厘米级的导航精度和较强的容错能力,当GPS较长时间中断时,通过SINS/光电测速仪的组合仍能为智能车辆提供可靠的导航数据.
To satisfy the navigation demands such as high accuracy, high frequency and high reliability for autonomous Intelligent Vehicle, a new multi-sensor integrated navigation technique is studied. An integrated navigation method in which SINS is aided by photoelectric speedometer and CP-DGPS is proposed. Then, simulation experiments are made. Simulation results show that the proposed navigation method can provide enough navigation information at 100Hz with cm-level navigation accuracy and good fault-tolerant ability. Even when GPS is continuously interrupted for a period, Intelligent Vehicle can still get reliable navigation information by SINS/Speedometer integration.
出处
《传感技术学报》
CAS
CSCD
北大核心
2007年第6期1437-1442,共6页
Chinese Journal of Sensors and Actuators
基金
江苏省汽车工程重点实验室开放基金资助项目资助(QC200603)
江苏省交通科学研究计划项目资助(06C04)
东南大学博士科研启动基金资助(4022001008)
关键词
智能车辆
自主驾驶
组合导航
信息融合
intelligent vehicle
autonomous driving
integrated navigation
information fusion
