摘要
针对未知环境下某水下航行器组合导航系统在GPS信号长时间失效时,导航误差随时间积累的问题,采用了同时制图定位(SLAM)的导航方法,提出了一种将SLAM的信息融合于INS/GPS组合导航系统的方案,通过SLAM技术来限制惯导系统的误差积累,可以显著提高组合导航系统的性能并能在线建立环境的增量式地图。仿真结果表明,该方法充分利用了同时制图定位提供的信息,有效地提高了导航系统的精度。
Aimed at the problem that some autonomous underwater vehicle navigation system in unknown environment will have accumulated errors when GPS signal can not take effect in long time.A scheme of fusing SLAM information into INS/GPS integrated navigation system is proposed using simultaneous location and map building（SLAM）navigation method.SLAM technology can limit accumulated errors in INS.It can dramatically improve the performance of integrated navigation system and can build increment map online.Simulation result shows that the method takes fully advantage of SLAM information and effectively improves navigation system＇s precision.
出处
《火力与指挥控制》
CSCD
北大核心
2010年第8期52-54,57,共4页
Fire Control & Command Control
基金
国家"863"计划基金(2007AA0676)
教育部新世纪优秀人才支持基金资助项目(NCET-06-0877)
