| 引用本文: | 程见童,张为华,江振宇.同时定位与制图辅助的GPS/DR组合导航.[J].国防科技大学学报,2014,36(3):72-76.[点击复制] |
| CHENG Jiantong,ZHANG Weihua,JIANG Zhenyu.GPS/DR integrated navigation aided by simultaneous localization and mapping[J].Journal of National University of Defense Technology,2014,36(3):72-76[点击复制] |
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| 同时定位与制图辅助的GPS/DR组合导航 |
| 程见童, 张为华, 江振宇 |
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(国防科技大学 航天科学与工程学院，湖南 长沙 410073)
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| 摘要: |
| 针对全球定位系统在信号失锁条件下与航位推算组合导航的系统误差快速累积问题，提出一种基于压缩扩展卡尔曼滤波的同时定位与制图的辅助的全球定位系统/航位推算组合导航方法。该方法利用同时定位与辅助实现运动平台在全球定位系统信号无效时连续稳定导航，抑制航位推算定位误差的累积，并利用全球定位系统定位结果校正同时定位与辅助制图误差，减小地图的不确定性。设计基于压缩扩展卡尔曼滤波的同时定位与辅助/全球定位系统组合滤波器，实现大尺度环境下同时定位与辅助/全球定位系统的实时解算。真实实验数据计算结果分析表明，相对于同时定位与辅助定位结果，同时定位与辅助的全球定位系统/航位推算组合导航可有效提高系统定位性能，使得制图精度提高10m。 |
| 关键词: 同时定位与制图 压缩扩展卡尔曼滤波 组合导航 航位推算 |
| DOI：10.11887/j.cn.201403014 |
| 投稿日期：2013-12-11 |
| 基金项目: |
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| GPS/DR integrated navigation aided by simultaneous localization and mapping |
| CHENG Jiantong, ZHANG Weihua, JIANG Zhenyu |
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(College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China)
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| Abstract: |
| Considering the performance of Global Positioning System (GPS)/Dead Reckoning (DR) integrated system degrading dramatically when GPS signal is outage or blocked, a Compressed Extend Kalman Filter (CEKF) based Simultaneous Localization and Mapping (SLAM) aided GPS/ DR integrated navigation method was addressed. The error of DR system was restrained with SLAM correction when the GPS solutions were unavailable. Accordingly, the GPS location corrected the error and improves the uncertainty of SLAM mapping when GPS positioning was accessible. A filter of CEKF based SLAM/GPS integrated was designed to realize the real time implement of SLAM/GPS in a large scale environment. Compared with the SLAM locating using the real experiment dataset, the SLAM aided GPS/DR integrated method enhanced the system performance of positioning as well as the accuracy of SLAM mapping raised approximate 10m. |
| Keywords: simultaneously localization and mapping compress extended kalman filter integrated navigation dead reckoning |
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