GNSS/INS组合车辆协同精密定位方法

doi:10.11947/j.AGCS.2022.20210471

测绘学报 ›› 2022, Vol. 51 ›› Issue (8): 1708-1716.doi: 10.11947/j.AGCS.2022.20210471

GNSS/INS组合车辆协同精密定位方法

李博峰, 陈广鄂

同济大学测绘与地理信息学院, 上海 200092

收稿日期:2021-08-18 修回日期:2022-06-30 发布日期:2022-09-03
作者简介:李博峰(1983-),男,博士,教授,研究方向为卫星大地测量。E-mail:bofeng_li@tongji.edu.cn
基金资助:
国家自然科学基金(41874030;42074026);上海市优秀学术带头人项目(20XD1423800);上海市科委科技创新计划(20511103302;20511103402;20511103702)

Precise cooperative positioning for vehicles with GNSS and INS integration

LI Bofeng, CHEN Guang'e

College of Surveying and GeoInformatics, Tongji University, Shanghai 200092, China

Received:2021-08-18 Revised:2022-06-30 Published:2022-09-03
Supported by:
The National Natural Science Fundation of China (Nos.41874030;42074026);The Program of Shanghai Academic Research Leader (No.20XD1423800);The Scientific and Technological Innovation Plan from Shanghai Science and Technology Committee (Nos.20511103302;20511103402;20511103702)

摘要/Abstract

摘要： 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。

关键词: GNSS, INS, 组合导航, 协同定位

Abstract: Autonomous driving and intelligent transportation require not only the high-precision positioning of vehicles,but also the high-precision cooperative control between vehicles.The current research idea of relying on purely adding sensors to improve the accuracy of vehicle positioning still cannot effectively solve the complex situation of satellite signals losing lock for a long time.This paper proposes a vehicle-based cooperative high-precision positioning method based on GNSS/INS combined sensors.It imposes the spatial relative position constraints between vehicles by sharing their observations,thereby improving the positioning accuracy and reliability.The experimental results show that the GNSS/INS cooperative positioning mode can significantly improve the positioning accuracy in the harsh environment compared to the traditional standalone positioning mode.

Key words: GNSS, INS, integrated combination, cooperative positioning

中图分类号:

P228

李博峰, 陈广鄂. GNSS/INS组合车辆协同精密定位方法[J]. 测绘学报, 2022, 51(8): 1708-1716.

LI Bofeng, CHEN Guang'e. Precise cooperative positioning for vehicles with GNSS and INS integration[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(8): 1708-1716.

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GNSS/INS组合车辆协同精密定位方法

Precise cooperative positioning for vehicles with GNSS and INS integration

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