基于简化车辆非完整约束辅助的低成本车载INS/GNSS 组合导航系统研究

Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints

针对采用低成本MEMS-IMU器件的INS/GNSS组合导航系统在GNSS信号中断时产生较大误差的问题,研究了一种基于车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统,针对系统的低成本特性对车辆非完整约束进行了简化,并据此推导了滤波算法的模型.仿真分析以及车载测试的结果均表明,对于消费级MEMS-IMU和GNSS接收机构成的低成本INS/GNSS组合导航系统,加入简化车辆非完整约束的辅助后,在GNSS信号中断1min期间组合导航位置误差小于行驶距离的3%.该约束的应用可以显著提高低成本车载INS/GNSS组合导航系统的精度.

Aiming at solving the problem of large errors for INS/GNSS integrated navigation system with low cost MEMS-IMU device, during loss of GNSS signal, a low-cost vehicle INS/GNSS integrated navigation system based on assistance of vehicle non-holonomic constraints is studied. The vehicle non-holonomic constraints are simplified for the low-cost characteristics of the system, and the model of the filtering algorithm is derived accordingly. The results of simulation analysis and on-board testing show that, for the low-cost INS/GNSS integrated navigation system composed of consumer-grade MEMS-IMU and GNSS receiver, during 1 min loss of GNSS signal, the navigation position error is less than 3% of the driving distance, after adding the assistance of such simplified vehicle non-holonomic constraints. The application of such constraints can significantly improve the accuracy of low-cost vehicle INS/GNSS integrated navigation systems.