摘要
针对地下车库这类卫星定位失效场景下的手机端车辆定位问题,本文研究了利用车辆非完整性约束(nonholonomic constraints,NHC)和磁航向辅助惯导自主推算的定位方案。基于智能手机传感器,比较了在没有全球卫星导航系统(global navigation satellite system,GNSS)辅助的条件下,补偿手机安装角和NHC杆臂、在线估计手机安装角和非完整性约束杆臂以及磁航向修正对定位精度的影响,并在2种典型的地下车库(多转弯和长直线)中进行了测试实验。实验结果表明:多转弯轨迹相比长直线轨迹更有利于非完整性约束性能的发挥;在多转弯场景中,在线估计手机安装角和非完整性约束杆臂并进行补偿的方案取得了最好的定位精度;在卫星信号中断500 m条件下,终点平面位置相对测量误差仅为1.66%;在长直线场景中,加入磁航向修正的方案定位精度最高;在卫星信号中断800 m条件下,终点平面位置相对测量误差为10.56%。
In response to the issue of smartphone-based vehicle positioning in scenarios where satellite positioning fails,this paper investigates a positioning solution using non-holonomic constraints(NHC)and magnetic heading-aided inertial navigation.Based on smartphones sensors,the effects of compensating the IMU mounting angle and NHC lever arm,online estimation of the IMU mounting angle and NHC lever arm,and magnetic heading correction on the positioning accuracy without GNSS are compared.Field tests are conducted in two typical underground parking scenarios:multi-turn and long-straight.The experimental results reveal that:Multi-turn trajectories favor the performance of NHC compared to long-straight trajectories.In multi-turn scenarios,the scheme involving online estimation of IMU mounting angles and NHC lever arm yields the best positioning accuracy.The relative measurement error of terminal horizontal positon error is only 1.66%in the case of a 500 m GNSS signal outage.In long-straight scenario,the scheme with magnetic heading correction provide the highest positioning accuracy.The relative measurement error of terminal horizontal position is 10.56%in the case of an 800 m GNSS signal interruption.
作者
丁龙阳
旷俭
陈起金
牛小骥
DING Longyang;KUANG Jian;CHEN Qijin;NIU Xiaoji(GNSS Research Center,Wuhan University,Wuhan 430079,China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2023年第10期1712-1719,共8页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(41904019,42174024).
