低成本亚米级PPP/INS组合导航定位系统研究

Research on Low-cost Sub-meter PPP/INS Integrated Navigation and Positioning System

铁路智慧工地建设中,对车辆、机具、人员等有实时定位和安全管理等位置服务需求,设计了一种亚米级、低成本、基于微机电传感器(MEMS)的PPP/INS组合导航定位系统。首先介绍系统终端采用的基于零速度更新(ZUPT)和非完整约束(NHC)算法的PPP/INS松组合导航定位方法,然后介绍系统组成,并通过车载实验对开阔环境和半开阔环境下的系统动态定位精度进行分析。实验结果表明,该系统在开阔环境下可满足亚米级定位精度,在半开阔环境下定位精度优于1.0%×失锁距离,相比PPP和u-blox SPP单系统定位优势明显。研究成果对铁路智慧工地位置服务中低成本、亚米级导航定位研究及成果转化具有一定的参考价值。

In the construction of railway intelligent construction sites,there are demands for real-time positioning and safety management of vehicles,machines,and personnel.A sub-meter-level,low-cost,microelectro-mechanical sensor(MEMS)-based PPP/INS integrated navigation and positioning system was designed.Firstly,the PPP/INS loosely-coupled navigation and positioning method based on zero velocity update(ZUPT)and non-holonomic constraints(NHC)algorithm was introduced.The system composition was introduced,and the dynamic positioning accuracy of the system in open environment and semi open environment was analyzed through vehicle experiments.The experimental results show that,the system can meet sub-meter positioning accuracy in open environment,and the positioning accuracy in semi-open environment is better than 1.0%×loss of lock distance,which has obvious advantages compared with PPP and u-blox SPP single system positioning.The research results have certain reference value for low-cost,sub-meter navigation and positioning research and achievement transformation in railway smart site location services.