GPS/DR组合导航性能增强技术

Performance improvement of GPS/DR integrated navigation system

摘要:

为了提高全球定位系统(GPS)信号短时中断时地面车辆自主导航精确度，提出了GPS信号中断时采用车辆不完全约束条件和里程仪速度信息作为量测，辅助惯性导航系统实现车辆航位推算(DR)自主导航的方案；推导了该方案的GPS/DR组合导航的卡尔曼滤波方程；并进行了计算机仿真研究和地面车载试验，结果显示GPS信号中断90 s，DR自主导航误差为20 m，能够满足部分地面车辆短时高精确度自主定位要求。

Abstract:

To improve the performance of autonomous vehicle navigation system，this paper proposes a car Global Positioning System/Dead Reckoning(GPS/DR) integrated navigation system utilizing car non-holonomic constrains and odometer speed information to assist strap-down Inertial Navigation System (INS) when GPS signal is blocked. The Kalman filtering dynamic model for the proposed car GPS/DR integrated navigation system is deduced. The simulation on computer and car experiment are performed to verify the proposed method. The results show that proposed method provides high position accuracy，meeting the requirement of some vehicle autonomous navigation. When GPS signal is blocked for 90 s，the maximized position error is 20 m in the turn and straight line area.