车载GNSS/INS实时超紧组合导航方法及验证

Vehicle-Mounted GNSS/INS Real Time Ultra-Tight Integrated Navigation Method and its Verification

针对车载GNSS/INS超紧组合导航应用的低成本、低时延、高精度、高可靠性和强鲁棒性需求,设计了一种适用于车载环境的低成本GNSS/INS实时超紧组合导航方法,通过釆用一种新的卡尔曼滤波数学模型,解决车辆高速移动环境中对GNSS观测数据延迟及组合更新计算延迟要求高的问题。接着,设计了一种GNSS/INS实时超紧组合导航系统的一体化方案,并通过集成实现,有效降低了系统成本。在此基础上开展了跑车试验,对所提出的模型的计算精度和实时性进行了验证和分析。试验结果表明,上述方法在保障系统定位精度的前提下,有效降低了系统成本,减少了时间延迟,保障了组合导航结果的实时性和可用性。

Aiming at the requirements of low cost, low delay, high precision, high reliability and strong robustness for vehicle - mounted GNSS/INS ultra-tight integrated navigation applications, this paper designed a low-cost GNSS/INS real-time ultra-tight integrated navigation method for vehicle-mounted environment.The navigation method adopted a new Kalman filter mathematical model to solve the problem of high latency requirements for GNSS observation data delay and combined calculation update in high-speed mobile vehicles. Then, a GNSS/INS real-time ultra -tight integrated navigation system was designed and integrated to achieve an effective reduction in system cost. Based on this method, a dynamic vehicle test was conducted to evaluate and analyse the accuracy and real-time performance of the proposed model. The experimental results show that under the premise of guaranteeing the positioning accuracy of the system, the method can effectively reduce the system cost, reduce the time delay, and guarantee the real-time and availability of the integrated navigation results.