GPS拒止区域的辅助INS导航方法综述

Review of Aided-INS Navigation Methods in GPS-Denied Environment

GPS信号较弱,在信号受到遮挡或被干扰的情况下出现GPS拒止区域,传统仅依靠INS的导航系统导航误差随时间发散,定位精度低。针对该问题,根据不同应用场景介绍了零速修正辅助INS的导航方法、径向基神经网络辅助INS的导航方法、视觉传感器辅助INS的导航方法;详细给出了各个导航方法中的常见算法、近年来的创新之处和定位精度;展望了GPS拒止区域导航方法的发展趋势,提出自适应性和通用性更强的全源定位导航技术,以及成本低、鲁棒性强的机会信号导航技术是未来的发展方向,为后续GPS拒止区域导航方法的研究提供参考信息。

Aim at the problem that GPS-denied area appears when GPS signals are blocked or interfered because of its low signal power and errors of inertial navigation system diverge in GPS-denied environment,ZUPT aided INS navigation methods,RBFNN aided INS navigation methods and visual aided INS navigation methods are introduced for different circumstances.Commonly used algorithms,innovations and accuracy of positioning of these navigation methods are explained in detail.Prospects of navigation methods in GPS-denied environment are ASPN technology which is more self-adaptive and universal and NAVSOP technology which is low-cost and robust.Important reference information and research directions of navigation methods in GPSdenied environment are provided.