摘要
目前机动车驾驶人科目二科目三考试采用的是基于全球卫星导航系统(GNSS)差分定位技术对考试车辆进行精确定位的评判方式.基于GNSS差分定位技术提升了驾驶人考试的准确性和公平性,但在实际考试过程中存在车辆在隧道中或高架桥下出现定位信号丢失或失锁的现象,容易对考试造成误判.通过对GNSS差分定位与惯性导航系统原理的分析,提出将GNSS与惯性导航系统进行融合,传统GNSS接收机中独立的跟踪链路被卡尔曼滤波器反馈链路取代,能够完成组合导航信息处理,进而提高接收机在信号丢失或其他恶劣条件下的导航性能.实验仿真结果表明,利用卡尔曼滤波器并通过系统建模的组合导航方案,在GNSS信号丢失或失锁期间能够保证系统完成高精度、高稳定性及长时间的导航任务,证明了该组合导航系统具有较强的实用性.
The test of motor vehicle driver in subjects 2 and subjects 3 is based on global navigation satellite system(GNSS)differential positioning technology now.The differential positioning technology based on GNSS improves the accuracy and fairness of the driver test,but in the actual examination process,the positioning signal will be lost or unlocked in the tunnel or under the viaduct,which is easy to cause misjudgment in the examination.Based on the analysis of GNSS differential positioning and inertial navigation system principle,the combination of GNSS and inertial navigation system was proposed in this paper.The independent tracking link in the traditional GNSS receiver was replaced by Kalman filter feedback link,and integrated navigation information processing could be completed,so as to improve the navigation performance of the receiver under signal loss or other adverse conditions.Experimental simulation shows that the integrated navigation scheme modeled by the combined system using Kalman filter can ensure a high precise,stable and long-duration navigation tasks during GNSS signal loss or lock loss,which proved that the combined system has strong practicability.
作者
程保喜
CHENG Bao-xi(Shanxi Information Industry Technology Research Institute, Taiyuan 030012, China)
出处
《中北大学学报（自然科学版）》
CAS
2021年第1期89-96,共8页
Journal of North University of China(Natural Science Edition)
基金
山西省重点研发计划资助项目(201703D121030)。
关键词
差分定位
惯性导航
最小二乘法
卡尔曼滤波法
定位定姿
differential positioning
inertial navigation
least square method
Kalman filter method
positioning and attitude determination
