基于简化车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统研究

冯木榉; 翟昆朋; 蔺晓龙; 黄武康; 何文涛

Chinese

您当前的位置：

首页 >

文章列表页 >

基于简化车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统研究

更新时间：2026-09-04

- 基于简化车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统研究
- Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints
- 微电子学与计算机 2020年37卷第8期页码：78-82
- 作者机构：
  
  1. 中国科学院机构微电子研究所,北京,100029
  2. 中国科学院大学,北京,100049
  3. 中国科学院微电子研究所嘉兴微电子与系统工程中心,浙江,嘉兴,314001
- 作者简介：
- 基金信息：
  
  国家科技重大专项 2013ZX02310
- DOI：
  中图分类号：
- 纸质出版：2020
- 稿件说明：
移动端阅览
冯木榉, 翟昆朋, 蔺晓龙, 黄武康, 何文涛. 基于简化车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统研究[J]. 微电子学与计算机, 2020, 37(8): 78-82.

FENG Mu-ju, ZHAI Kun-peng, LIN Xiao-long, et al. Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints[J]. 2020, 37(8): 78-82.
冯木榉, 翟昆朋, 蔺晓龙, 黄武康, 何文涛. 基于简化车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统研究[J]. 微电子学与计算机, 2020, 37(8): 78-82. DOI：

FENG Mu-ju, ZHAI Kun-peng, LIN Xiao-long, et al. Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints[J]. 2020, 37(8): 78-82. DOI：

摘要

针对采用低成本MEMS-IMU器件的INS/GNSS组合导航系统在GNSS信号中断时产生较大误差的问题，研究了一种基于车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统，针对系统的低成本特性对车辆非完整约束进行了简化，并据此推导了滤波算法的模型.仿真分析以及车载测试的结果均表明，对于消费级MEMS-IMU和GNSS接收机构成的低成本INS/GNSS组合导航系统，加入简化车辆非完整约束的辅助后，在GNSS信号中断1min期间组合导航位置误差小于行驶距离的3%.该约束的应用可以显著提高低成本车载INS/GNSS组合导航系统的精度.

Abstract

Aiming at solving the problem of large errors for INS/GNSS integrated navigation system with low cost MEMS-IMU device

during loss of GNSS signal

a low-cost vehicle INS/GNSS integrated navigation system based on assistance of vehicle non-holonomic constraints is studied. The vehicle non-holonomic constraints are simplified for the low-cost characteristics of the system

and the model of the filtering algorithm is derived accordingly. The results of simulation analysis and on-board testing show that

for the low-cost INS/GNSS integrated navigation system composed of consumer-grade MEMS-IMU and GNSS receiver

during 1min loss of GNSS signal

the navigation position error is less than 3% of the driving distance

after adding the assistance of such simplified vehicle non-holonomic constraints. The application of such constraints can significantly improve the accuracy of low-cost vehicle INS/GNSS integrated navigation systems.

关键词

Keywords

references

WU Y X. Versatile Land Navigation Using Inertial Sensors and Odometry: Self-calibration, In-motion Alignment and Positioning [C] // Inertial Sensors and Systems. Karlsruhe: IEEE, 2014.

WU Y X, CHRIS GOODALL, NASER El-SHEIMY. Self-calibration for IMU/Odometer Land Navigation: Simulation and Test Results [C] // ION 2010 International Technical Meeting. San Diego: ION, 2010: 839-849.

DAVID H TITTERTON, JOHN L WESTON. Strapdown Inertial Navigation Technology [M]. 2nd Edition. London: Institution of Electrical Engineers, 2004.

GREWAL M S, WEILL L R, ANDREWS A P. Global Positioning Systems, Inertial Navigation, and Integration [M].2nd Edition.New York: Wiley, 2007: 382-387.

RYAN J, BEVLY D. Robust Ground Vehicle Constraints for Aiding Stand Alone INS and Determining Inertial Sensor Errors [C] // International Technical Meeting of The Institute of Navigation. Newport Beach: ION, 2012: 374-384.

PAUL D GROVES. Principles of GNSS, Inertial and Multisensor Integrated Navigation Systems [M]. 2nd Edition. London: Artech House, 2013.

COX D B. Integration of GPS with inertial navigation systems [J]. Navigation, 1978, 2(25): 236-245. DOI: 236

TANG Y G, WU Y X, WU M P, et al. INS/GPS Integration: Global Observability Analysis [J]. IEEE Transactions on vehicular technology, 2009, 58(3): 1129-1142. DOI: 1129

WU Y, WU M, HU X, et al. Self-calibration for Land Navigation Using Inertial Sensors and Odometer: Observability Analysis [C] // AIAA Guidance, Navigation and Control Conference. Chicago: AIAA, 2009.

DISSANAYAKE G, SUKKARIEH S, NEBOT E, et al. The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001, 17(5): 731-747. DOI: 731

Washington GREENSPAN R L. Global Positioning System: Theory and Applications, Volume Ⅱ [M]. Washington: AIAA, 1996: 187-220. DOI: 187

NIU X J, SAMEH NASSAR, NASER El-SHEIMY. An Accurate Land-Vehicle MEMS IMU/GPS Navigation System Using 3D Auxiliary Velocity Updates [J]. NAVIGATION, Journal of the Institute of Navigation, 2007, 54(3): 177-188 DOI: 177

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于监控指标关联性的微服务异常检测

基于MSS-YOLO-MPHands融合架构的装配手部动作识别研究

面向处理器分支预测单元的Spectre攻击轻量化防御方法

基于区块链的AI生成内容溯源框架设计研究

基于反向体偏置的高增益稳定性高温运放设计