低成本GNSS/INS组合导航系统探讨

Discussion on low-cost GNSS/INS integrated navigation system

为了解决校内环卫扫地车廉价的导航定位问题,提出了低成本全球卫星导航系统(GNSS)与惯性导航系统(INS)组合导航系统方案:利用单频实时动态载波相位差分(RTK)技术在GNSS信号良好情况下反演得到速度和方位信息,对廉价INS输出数据进行闭环修正,减小INS输出数据的误差,而在卫星信号无法接收或信号被遮挡时,通过航位推算算法将误差模型修正后的廉价INS输出的航向角和加速度进行积分计算得到位置和方位角,从而保证组合导航系统的稳定运行。实验结果表明该方法有较为准确的定位精度和可靠的稳定性,满足了低匀速环境下的车辆导航定位的需求。

In order to further study on the integrated navigation and positioning technology with low cost and high precision,the paper proposed a low-cost GNSS/INS integrated navigation system scheme:the single-frequency RTK technology was used to retrieve the velocity and azimuth information underthe condition ofgood GNSS signal,and the output data of low-cost INS was closed-loop corrected for reducing the error of INS output data;when the satellite signal could not be received or the signal was occluded,the position and azimuth angle were obtained by integrating the course angle and acceleration output from the low-cost INS corrected by error model with the dead reckoning algorithm,so as to ensure the stable operation of the integrated navigation system.Experimental result showed that the method would have good positioning accuracy and reliable stability,which could meet the needs of vehicle navigation and positioning under low uniform speed environment.