雷达/INS集成和地图匹配用于城市环境中的陆地车辆导航
Mohamed Elkholy1,2, Mohamed Elsheikh1,3, Naser El-Sheimy1
1Department of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada.
Sensors (Basel, Switzerland)
|June 10, 2023
概括
本研究介绍了一种新的雷达和惯性导航系统 (INS) 集成与地图匹配,以增强全球导航卫星系统 (GNSS) 信号差的地区的自动驾驶车辆导航.
科学领域:
- 机器人技术和自主系统
- 导航和定位 导航和定位
- 传感器融合式传感器
背景情况:
- 全球导航卫星系统 (GNSS) 接收器对于自主导航至关重要,但在城市环境中会受到信号退化.
- 信号阻塞和多路径效应等挑战需要互补的传感器技术.
- 惯性导航系统 (INS) 和雷达是可靠定位的关键替代方案.
研究的目的:
- 开发和评估一种新的算法,用于在全球导航卫星系统 (GNSS) 挑战的环境中提高陆地车辆导航准确度.
- 整合来自多个雷达单元和惯性导航系统 (INS) 的数据,以提高定位.
- 为了利用地图匹配与OpenStreetMap (OSM) 数据进行实时位置校正.
主要方法:
- 利用四个雷达单元进行前进速度和位置估计.
- 使用扩展卡尔曼波器 (EKF) 与INS合并的雷达数据.
- 应用地图与OpenStreetMap (OSM) 匹配,以完善集成导航解决方案.
主要成果:
- 拟议的雷达/INS集成与地图匹配显示了导航精度的显著改进.
- 算法实现了水平位置根平均平方 (RMS) 误差不到行驶距离的1%.
- 在模拟的全球导航卫星系统 (GNSS) 中断期间验证了有效性能.
结论:
- 开发的算法有效地弥补了全球导航卫星系统 (GNSS) 在具有挑战性的城市地区的信号损失.
- 雷达/INS集成与地图匹配相结合,为连续和准确的自动驾驶汽车导航提供了强大的解决方案.
- 该方法显示了对需要可靠定位的现实应用的巨大潜力.
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