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基于惯性导航与无线测距组合的车载定位方案

The Vehicle Positioning Scheme Based on Integrated Inertial Navigation and Wireless Ranging
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摘要 车载导航中,使用无线测距与惯性导航系统(INS)组合定位,可有效改善系统定位精度。针对定位中全球卫星定位系统(GPS)失锁时,由INS长时间独立工作造成的定位误差,该文从理论上论证了用无线测距所得精确距离修正INS定位数据方案的可行性,给出组合定位具体原理,并分析了定位误差与INS误差的关系,从而用来改善定位精度。仿真结果表明此方案可有效提高定位精度。 Combining wireless ranging and inertial navigation system(INS) can effectively improve the positioning precision for ground vehicle navigation system.In the case of long GPS signal blockages inherent,the positioning accuracy of independent INS is largely deteriorated.To overcome this limitation,this study theoretically demonstrates the feasibility of the scheme which corrects the INS positioning data by using the precise distance obtained from the wireless ranging.The integrated positioning principle has been presented and the relationship between the positioning error and INS error has also been analyzed to improve the positioning accuracy.The simulation results show that the propose scheme can improve the positioning accuracy effectively.
出处 《压电与声光》 CSCD 北大核心 2013年第4期514-518,523,共6页 Piezoelectrics & Acoustooptics
基金 2011年国家自然科学基金资助项目(51175535)
关键词 车载定位 惯性导航 无线测距 组合定位 vehicle positioning Inertial navigation wireless distance measurement integrated positioning
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