北斗车辆自适应组合导航技术研究

Research on BeiDou Vehicle Adaptive Integrated Navigation

车辆在"城市峡谷"、高架桥下、隧道等环境利用北斗卫星导航系统进行导航过程中,存在卫星导航信号易受遮挡和干扰的局限性。将北斗卫星导航系统同惯性导航系统、里程计等传感器进行组合,运用Kalman滤波技术进行多传感器的信息融合,能够较好地提高导航精度以及导航系统整体的自主性、抗干扰性、容错性和可靠性。针对现有车辆导航系统可靠性不高的问题,着重对基于Kalman滤波的北斗车辆自适应组合导航可靠性进行了相关研究。

Beidou satellite navigation system is susceptible to occlusion and interference when navi- gating for vehicles traveling in the ＂ city Canyon＂, under the viaduct, tunnel and other environ- ments. To deal with this limitation, Beidou satellite navigation system is combined with inertial navigation systems and the odometer sensors, and Kalman filtering technique is applied in information fusion for multi-sensors, which can improve the vehicle navigation system in terms of navigation accuracy, navigation system autonomy, the whole anti-interference property, fault tolerance, and reliability. Because the reliability of the existing vehicle navigation systems is low, the reliability of vehicle adaptive navigation based on Kalman filter is researched in this paper.