露天矿区里程计辅助的GPS/INS车辆导航算法研究

GPS/INS Integrated Navigation Algorithm Assisted by Odometer for Vehicle in Open Mining Area

由于INS误差容易快速积累,所以在GPS/INS组合导航过程中依赖于GPS信号的稳定性,露天矿区GPS信号容易发生中断或遮挡,引起INS误差的快速增长,降低导航精度。在GPS/INS组合导航的基础上,提出了露天矿区里程计辅助的组合导航算法,修正了GPS信号中断过程中导航参数误差。介绍了里程计速度和位置的解算方法和传统的GPS/INS组合导航的动力学模型及观测模型,给出了里程计辅助GPS/INS组合导航算法的结构图,描述了里程计辅助的GPS/INS组合导航算法的详细过程,通过车载验证了算法的有效性。实验结果表明:GPS信号缺失的情况下,GPS/INS组合导航的误差快速积累,导航精度较低;通过引入里程计辅助组合导航,可以及时修正GPS信号中断阶段的导航参数误差,加入的里程计辅助的GPS/INS组合导航误差在NED三个方向的最大值分别为11.336 m、8.056 m和19.782 m,比无里程计辅助的误差(在NED三个方向的最大值分别为40.324m、38.776m和79.693m)有较大提高,数据解算满足导航要求。

In GPS/INS integrated navigation,INS errors will accumulate fast in short time.The GPS/INS navigation precision relays on the stability of GPS signal.If the GPS signal breaks,the INS error will increase fast,which will decrease the navigation accuracy.Based on classical GPS/INS integrated navigation,odometer is introduced to integrated navigation to modify navigation parameter in the break of GPS signal.Computation method of odometer position and velocity and GPS/INS integrated navigation dynamical model and observation model were introduced.The structure chart of GPS/INS integrated navigation algorithm with odometer is given to describe the detail of using odometer to aid GPS/INS integrated navigation.Final vehicle experimentation was performed to test the validity of new algorithm.The result shows that,GPS/INS integrated error accumulates fast in the situation of GPS signal break and the navigation precision decreases.GPS/INS integrated navigation algorithm with odometer is able to modify navigation reference error,when the GPS signal breaks.The max value of integrated navigation error with odometer is 11.336 m,8.056 mand 19.782 min NED direction.Comparing to the max value(40.324 m、38.776 mand 79.693 m)of integrated navigation without odometer,navigation resolution increases largely,which is able to meet the need of navigation.