OD/SINS adaptive integrated navigation method with non-holonomic constraints

doi:10.11947/j.AGCS.2022.20210122

Abstract

Abstract: In the ground vehicle integrated navigation GNSS/OD/SINS, the global navigation satellite system (GNSS) signal is susceptible to environmental interference or even interruption. The non-holonomic constraint (NHC) is applied to the odometer (OD)/strap-down inertial navigation system (SINS) combination, which can effectively suppress the error divergence of the integrated navigation system during the GNSS signal interruption. Usually, NHC's noise setting is based on a fixed empirical value. However, the trajectory of the vehicle is complex and changeable during actual movement, and its motion state cannot fully satisfy the NHC premises and assumptions. The noise given by experience cannot accurately reflect the actual vehicle motion. Therefore, this paper analyzes the relationship between NHC noise and vehicle motion state, and constructs a NHC noise adaptive method based on vehicle motion state. Validation of the real-world experiments of the selected scene shows that the result of the noise-adaptive NHC/OD/SINS combined navigation is compared with the fixed-noise NHC/OD/SINS combination, when the GNSS signal is interrupted for 110 s and the vehicle turns continuously, the maximum horizontal position error is reduced by 68.4%; when the GNSS signal is interrupted for 74 seconds and the vehicle is traveling in a straight line, the maximum horizontal position error is reduced by 87.3%; the error divergence of the integrated navigation system during the GNSS interruption can be better suppressed.

Key words: odometer, non-holonomic constraint, adaptive noise, integrated navigation

CLC Number:

P227

LIU Wanke, NONG Qi, TAO Xianlu, ZHU Feng, HU Jie. OD/SINS adaptive integrated navigation method with non-holonomic constraints[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(1): 9-17.

References

[1] 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 & Automation, 2001, 17(5):731-747.
[2] NOURELDIN A, KARAMAT T B, EBERTS, M D, et al. Performance enhancement of MEMS-based INS/GPS integration for low-cost navigation applications[J]. IEEE Transactions on Vehicular Technology, 2009, 58(3):1077-1096.
[3] YANG L, LI Y, WU Y, et al. An enhanced MEMS-INS/GNSS integrated system with fault detection and exclusion capability for land vehicle navigation in urban areas[J]. GPS Solutions, 2014, 18(4):593-603.
[4] CINA A, MANZINO A M, BENDEA I H. Improving GNSS landslide monitoring with the use of low-cost MEMS accelerometers[J]. Applied Sciences, 2019, 9(23):5075-5086.
[5] CARLSON C R, GERDES J C, POWELL J D. Error sources when land vehicle dead reckoning with differential wheelspeeds[J]. Navigation, 2004, 51(1):13-27.
[6] 吴富梅, 杨元喜. 基于小波阈值消噪自适应滤波的GPS/INS组合导航[J]. 测绘学报, 2007, 36(2):124-128. WU Fumei, YANG Yuanxi. GPS/INS integrated navigation by adaptive filtering based on wavelet threshold de-noising[J]. Acta Geodaetica et Cartographica Sinica, 2007, 36(2):124-128.
[7] HAO S, WANG S, MALEKIAN R, et al.A geometry surveying model and instrument of a scraper conveyor in unmanned longwall mining faces[J].IEEE Access, 2017, 5:4095-4130.
[8] SUKKARIEH S. Low cost, high integrity, aided inertial navigation systems for autonomous land vehicles[D]. Sydney:University of Sydney, 2000.
[9] 李增科, 王坚, 高井祥, 等. 自适应联邦滤波器在GPS-INS-Odometer组合导航的应用[J]. 测绘学报, 2016, 45(2):157-163 LI Zengke, WANG Jian, GAO Jingxiang, et al. The application of adaptive federated filter in GPS-INS-Odometer integrated navigation[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(2):157-163.
[10] GAO Z, GE M, LI Y, et al. Odometer, low-cost inertial sensors, and four-GNSS data to enhance PPP and attitude determination[J]. GPS Solutions, 2018, 22(3):1-16.
[11] WANG M, WU W, HE X, et al. Consistent ST-EKF for long distance land vehicle navigation based on SINS/OD integration[J]. IEEE Transactions on Vehicular Technology, 2019, 68(11):10525-10534.
[12] OUYANG W, WU Y, CHEN H. INS/odometer land navigation by accurate measurement modeling and multiple-model adaptive estimation[J].IEEE Transactions on Aerospace and Electronic Systems, 2021, 57(1):245-262.
[13] DU S, ZHANG S, GAN X. A hybrid fusion strategy for the land vehicle navigation using MEMS INS, odometer and GNSS[J]. IEEE Access, 2020(99):1-17.
[14] ZHANG Q, HU Y, NIU X. Required lever arm accuracy of non-holonomic constraint for land vehicle navigation[J]. IEEE Transactions on Vehicular Technology, 2020, (99):1-11.
[15] LEUNG K T, WHIDBORNE J F, PURDY D, et al. Road vehicle state estimation using low-cost GPS/INS[J]. Mechanical Systems & Signal Processing, 2010, 25(6):1988-2004.
[16] AMER N H, ZAMZURI H, HUDHA K, et al. Modelling and control strategies in path tracking control for autonomous ground vehicles:a review of state of the art and challenges[J]. Journal of intelligent & robotic systems, 2017, 86(2):225-254.
[17] BROSSARD M, BARRAU A, BONNABEL S. AI-IMU dead-reckoning[J]. IEEE Transactions on Intelligent Vehicles, 2020, 5(4):585-595.
[18] 胡昊杰,朱锋,张小红.利用MEMS-IMU检测车辆运动状态的自适应方法[J].导航定位学报,2020,8(5):11-18. HU Haojie, ZHU Feng,ZHANG Xiaohong. An adaptive method to detect vehicle motion state using MEMS-IMU[J].Journal of Navigation and Positioning,2020,8(5):11-18
[19] GAO N, ZHAO L. An integrated land vehicle navigation system based on context awareness[J]. GPS Solutions, 2015, 20(3):509-524.
[20] GROVES P D. Principles of GNSS, inertial, and multisensor integrated navigation systems[M]. London:Artech House, 2008.
[21] ZHANG X, ZHU F, TAO X, et al. New optimal smoothing scheme for improving relative and absolute accuracy of tightly coupled GNSS/SINS integration[J]. GPS Solutions, 2017, 21(3):861-872.
[22] 张文春. 汽车理论[M]. 2版. 北京:机械工业出版社, 2010. ZHANG Wenchun. Theory of Automobile[M]. 2nd. Beijing:China Machine Press,2010.
[23] 邓召文, 张福兴. 基于转向半径的汽车稳态转向特性分析[J]. 农业装备与车辆工程, 2007(1):23-26. DENG Zhaowen, ZHANG Fuxing. The analysis of steady-state steering characteristic turning radius-based in vehicle[J]. Agricultural Equipment & Vehicle Engineering, 2007(1):23-26.
[24] 李玉民,过学迅,王文家,等.整体式转向梯形的运动分析及优化设计[J].拖拉机与农用运输车,2001(2):18-22. LING Yumin, GUO Xuexun, WANG Jiawen, et al. Motion analyses and optimum design for ackerman steering[J]. Tractor & Farm Transporter, 2001(2):18-22.