基于差分GNSS/INS组合定位基准的网约车计程检测技术研究

Research on the mileage detection of app-based car-hailing based on differential GNSS/INS combined positioning

目的:针对网约车计程检测问题,研究了基于差分GNSS/INS组合定位基准的计程检测技术。方法:首先研究了基于载波GNSS/INS组合定位结果的里程恢复方法,从而为网约车计程检测提供基准;同时对智能手机在未知道路信息环境下的计程误差进行了分析。结果:在建筑遮挡和林荫遮挡的真实道路环境下进行网约车计程精度实验,结果表明组合定位基准结果与实际道路具有较好的一致性,手机端计程误差分别为1.02%和0.25%。结论:组合定位可为网约车在城市环境下的计程检测提供里程基准;手机计程在有地图信息的道路环境下计程误差较小,但在缺乏先验地图信息的未知道路信息环境下,可能会造成较大的计程误差。

Aims:Aiming at the mileage detection of app-based ride-hailing,this paper studies the technology of ride-hailing mileage detection based on the differential Global Navigation Satellite System(GNSS)/Inertial Navigation System(INS)combined positioning reference.Methods:Firstly,we studied the mileage recovery method based on carrier-GNSS/INS integrated positioning results to provide the benchmark for the app-based ride-hailing detection and analyzed the error of calculating mileage by smart phone terminals in unknown road information environments.Results:Experiments on the accuracy of app-based ride-hailing taxis were carried out in two real road environments with building shades and tree shades.The results showed that the combined positioning results were in good agreement with the actual road.And the mileage error of smart phones was 1.02%and 0.25%respectively.Conclusions:The combined GNSS/INS positioning can provide a mileage benchmark for detecting the calculated mileage of app-based ride-hailing.The mileage error of smart phones is small in the road environment with road map information.However,in the unknown road environment with no prior road map information,the app-based car-hailing terminal may cause large mileage errors.