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。
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.
作者
李博峰
陈广鄂
LI Bofeng;CHEN Guang'e(College of Surveying and GeoInformatics,Tongji University,Shanghai 200092,China)
出处
《测绘学报》
EI
CSCD
北大核心
2022年第8期1708-1716,共9页
Acta Geodaetica et Cartographica Sinica
基金
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)。
关键词
GNSS
INS
组合导航
协同定位
GNSS
INS
integrated combination
cooperative positioning
