移动测图中DGPS/INS组合定位测姿

DGPS/INS integrated position and orientation determination in mobile mapping system

介绍了移动测图技术及其系统组成,基于具体的车载移动测图系统,重点探讨了GPS和INS组成的组合定位测姿模块,给出了GPS/INS组合软件流程及解算过程。通过推导系统误差状态方程和量测方程,建立了GPS/INS位置、速度组合滤波模型,并结合野外车载实验数据,对来自GPS和INS的位置和姿态数据进行了组合数据处理,通过精度分析,论证了INS短时高精度的特点及其对GPS信息有益和必要的补充。针对陆地车载测图应用中GPS信号频繁中断,指出仍需增加传感器以辅助GPS/INS完成高精度的位置和姿态测定。

Mobile mapping technology and its system configuration are introduced.Based on a specific vehicle-borne mobile mapping system,the GPS/INS integrated positioning and orientation module is studied,and the flow chart and the algorithm of GPS/INS integrated computation software are designed.With the deduction of the error state function and the measurement function,the GPS/INS position/velocity integrated filter model is established and applied to field vehicle-borne experiment.Combining with the field experiment data,the position and attitude data from GPS and INS is processed by an integrated filter method,and the precision analysis demonstrates that the INS has high accuracy for short time application,and is an essential and beneficial supplement to GPS information.With regard to frequency outages of GPS in land vehicle mapping application,it is pointed out that additional sensors would still be necessary in assisting GPS/INS to accomplish high-precise position and orientation.