GNSS/INS组合车辆协同精密定位方法

自动驾驶和智能交通要求载体的高精度定位，更要求载体之间的高精度协同控制。当前依靠增加传感器来提升载体定位精度的研究思路依然无法有效解决卫星信号长时间失锁的复杂情况。本文提出了基于GNSS/INS组合的载体协同高精度定位方法，通过建立载体之间的相对位置关系来实现载体间观测值的共享，从而提升载体的定位精度和可信度。试验结果表明，GNSS/INS组合的协同定位模式相比于单独定位模式能显著改善载体恶劣环境下的定位精度。...

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Published inCe hui xue bao Vol. 51; no. 8; pp. 1708 - 1716
Main Author 李博峰
Format Journal Article
LanguageChinese
English
Published Beijing Surveying and Mapping Press 01.08.2022
同济大学测绘与地理信息学院,上海 200092
Subjects
Cooperative control
Global navigation satellite system
Sensors
Vehicles
组合导航
协同定位
GNSS
INS
Online AccessGet full text
ISSN1001-1595
1001-1595
DOI10.11947/j.AGCS.2022.20210471

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Abstract 自动驾驶和智能交通要求载体的高精度定位，更要求载体之间的高精度协同控制。当前依靠增加传感器来提升载体定位精度的研究思路依然无法有效解决卫星信号长时间失锁的复杂情况。本文提出了基于GNSS/INS组合的载体协同高精度定位方法，通过建立载体之间的相对位置关系来实现载体间观测值的共享，从而提升载体的定位精度和可信度。试验结果表明，GNSS/INS组合的协同定位模式相比于单独定位模式能显著改善载体恶劣环境下的定位精度。
AbstractList P228; 自动驾驶和智能交通要求载体的高精度定位,更要求载体之间的高精度协同控制.当前依靠增加传感器来提升载体定位精度的研究思路依然无法有效解决卫星信号长时间失锁的复杂情况.本文提出了基于GNSS/INS组合的载体协同高精度定位方法,通过建立载体之间的相对位置关系来实现载体间观测值的共享,从而提升载体的定位精度和可信度.试验结果表明,GNSS/INS组合的协同定位模式相比于单独定位模式能显著改善载体恶劣环境下的定位精度.
自动驾驶和智能交通要求载体的高精度定位，更要求载体之间的高精度协同控制。当前依靠增加传感器来提升载体定位精度的研究思路依然无法有效解决卫星信号长时间失锁的复杂情况。本文提出了基于GNSS/INS组合的载体协同高精度定位方法，通过建立载体之间的相对位置关系来实现载体间观测值的共享，从而提升载体的定位精度和可信度。试验结果表明，GNSS/INS组合的协同定位模式相比于单独定位模式能显著改善载体恶劣环境下的定位精度。
Author 李博峰
AuthorAffiliation 同济大学测绘与地理信息学院,上海 200092
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CHEN Guang'e
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SubjectTerms Cooperative control
Global navigation satellite system
Sensors
Vehicles
Title GNSS/INS组合车辆协同精密定位方法
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