车载GPS/DR/MM组合导航定位算法研究应用

RESEARCH ON GPS/DR/MM INTEGRATED NAVIGATION POSITIONING ALGORITHM FOR VEHICLE

虽然GPS/DR组合定位比单独用GPS或航迹推算DR(Dead Reckoning)定位有更高的定位精度,但由于累积误差的产生,长时间使用仍可能出现较大的偏差,不利于车辆导航。对此,提出一种基于模糊逻辑的地图匹配算法,利用模糊逻辑评判规则和相应的隶属度函数对地图匹配可信度进行综合评判,最终确定车辆当前行驶道路和车辆的位置。实验数据表明,地图匹配MM(Map Matching)技术进一步修正了GPS/DR组合导航系统的定位结果,有效地提高了系统定位精度。由于不增加硬件设施,GPS/DR/MM组合导航定位使低成本高精度的车辆导航成为可能。

Compared with single GPS or DR positioning, GPS/DR combinated navigation positioning possesses better positioning performance. But due to cumulative error,it will produce rather big deviation for long time use, and vehicle navigation may be affected. A map-matching algorithm based on fuzzy logic is presented. The algorithm can effectively make use of fuzzy logic evaluation rule and membership function to evaluate the map matching credibility comprehensively and then decide the road on which the vehicle is moving. The positioning result can be revised further. Simulation results show that, by this algorithm, the positioning performance of integrated navigation system can be improved significantly. Since no extra hardware facilities are added, GPS/DR/MM combinated navigation positioning make it possible to realize vehicle navigation with low cost and high accuracy.