本文關(guān)鍵詞： 車載導(dǎo)航 車輛運(yùn)動(dòng)模型 組合導(dǎo)航 卡爾曼濾波　出處：《中國(guó)慣性技術(shù)學(xué)報(bào)》2017年02期 　論文類型：期刊論文

【摘要】：隨著智能手機(jī)硬件性能的提升以及MEMS傳感器技術(shù)的發(fā)展和應(yīng)用普及,現(xiàn)有中高端智能手機(jī)平臺(tái)中大多安裝有消費(fèi)級(jí)的微慣性測(cè)量單元和GPS接收機(jī)模塊,將這兩者相互結(jié)合,利用一定的信息融合方法,即可實(shí)現(xiàn)連續(xù)的車載導(dǎo)航定位。在智能手機(jī)平臺(tái)中所采用的消費(fèi)級(jí)MEMS慣性傳感器模塊其精度很低,通常難以滿足車載DR導(dǎo)航算法的性能需求;同時(shí)在車輛行駛過(guò)程中,不可避免會(huì)經(jīng)過(guò)高架、隧道等路徑,也會(huì)導(dǎo)致GPS信號(hào)受到遮擋和屏蔽從而無(wú)法定位。針對(duì)以上問(wèn)題,設(shè)計(jì)了適用于智能手機(jī)平臺(tái)的基于車輛運(yùn)動(dòng)模型輔助的車載DR/GPS組合導(dǎo)航方案,推導(dǎo)建立了基于車輛側(cè)向速度約束的組合導(dǎo)航算法模型,并以智能手機(jī)作為驗(yàn)證平臺(tái),測(cè)試驗(yàn)證了所設(shè)計(jì)的算法在無(wú)GPS環(huán)境下,采用智能手機(jī)平臺(tái)中的消費(fèi)級(jí)MEMS慣性測(cè)量組件,仍然可以在短時(shí)間內(nèi)維持較高的導(dǎo)航定位性能。
[Abstract]:With the improvement of smart phone hardware performance and the development and application of MEMS sensor technology, most of the existing high-end smart phone platforms have consumer level micro inertial measurement unit and GPS receiver module, which are combined with each other. Using certain information fusion method, we can realize continuous vehicle navigation and positioning. The consumptive MEMS inertial sensor module used in smart phone platform has very low precision, and it is usually difficult to meet the performance requirements of vehicle Dr navigation algorithm. At the same time, in the course of vehicle driving, it is inevitable to pass through the viaduct, tunnel and other paths, which will also cause the GPS signal to be blocked and shielded and thus unable to locate. A vehicle DR/GPS integrated navigation scheme based on vehicle motion model is designed for smart phone platform. The integrated navigation algorithm model based on vehicle lateral speed constraint is derived and established. The smart phone is used as the verification platform. The test results show that the proposed algorithm can maintain high navigation and positioning performance in a short period of time by using the consumptive MEMS inertial measurement module in the smartphone platform without GPS.
【作者單位】： 南京航空航天大學(xué)導(dǎo)航研究中心;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(61533008,61374115,61533009,61673208) 江蘇省“333工程”科研資助立項(xiàng)項(xiàng)目(BRA2016405) 留學(xué)人員擇優(yōu)資助項(xiàng)目(2016年) 江蘇省六大人才高峰資助項(xiàng)目(2013-JY-013) 航空科學(xué)基金項(xiàng)目(20165552043) 江蘇高校優(yōu)勢(shì)學(xué)科建設(shè)工程項(xiàng)目和江蘇省“物聯(lián)網(wǎng)與控制技術(shù)”重點(diǎn)實(shí)驗(yàn)室基金資助 中央高�；究蒲袠I(yè)務(wù)費(fèi)專項(xiàng)資金資助(NS2017016,NZ2016104) 江蘇省普通高校研究生科研創(chuàng)新計(jì)劃項(xiàng)目(KYLX15_0264)
【分類號(hào)】：U495
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本文編號(hào)：1530398