MIMU/DGNSS组合导航技术在城市智能公交中的应用

Application of MIMU/DGNSS integrated navigation technology to the intelligent public transportation

为解决智能公交GPS在城市环境中易受干扰的问题,设计低成本MIMU和DGNSS松组合算法,并进行两类跑车实验。利用自编写的GNSS测试软件对该算法处理后的定位结果和高精度差分GNSS接收机的基准结果进行比对。实测结果表明,在城市复杂环境中该组合模块定位连续性达99.59%,其中75.68%在3 m以内,与传统GPS模块相比,在同样低成本的前提下提高定位结果精度和定位连续性、可靠性。

In order to solve the problem of GPS of intelligent bus for which is easy to be jammed, a low cost MIMU and DGNSS loose combination algorithm is designed and a dynamic car test is performed. Then the GNS$ test software written in this paper is used to compare the results of the algorithm with the benchmark results of the high precision differential GNSS receiver. The experimental results show that in the complex urban environment, the integrated navigation.module positioning continuity is 99. 59%, of which 75.68% is less than 3 m. Compared with traditional GPS module, under the premise of the same low cost, the positioning accuracy, continuity and reliability can be improved.