测试和分析GNSS/INS系统在内陆水文调查期间用于USV路径定位的选择导航参数
1Department of Transport and Logistics, Gdynia Maritime University, Morska 81-87, 81-225 Gdynia, Poland.
Sensors (Basel, Switzerland)
|April 27, 2024
概括
全球导航卫星系统 (GNSSs) 与惯性导航系统 (INSs) 结合,有效地定位用于内陆水文调查的无人地面车辆 (USVs). 圆-D GNSS/INS系统满足国际水文组织的定位要求,即使有间歇性的RTK校正.
科学领域:
- 地理学工程 工程地质学
- 机器人技术和自主系统
- 水文测量 - 水文测量
背景情况:
- 精确地定位移动物体的路径至关重要,特别是在具有挑战性的环境中,卫星信号访问有限.
- 与惯性导航系统 (INS) 集成的全球导航卫星系统 (GNSS) 为增强定位可用性提供了强大的解决方案.
- 无人驾驶地面车辆 (USV) 需要可靠的导航,以有效地获取内陆水文数据.
研究的目的:
- 在内陆水文调查期间测试和分析GNSS/INS系统的导航参数,用于USV路径定位.
- 在RTK模式下评估Ellipse-D GNSS/INS系统的定位精度和欧勒角度性能.
- 为了确定该系统是否符合国际水文组织 (IHO) 各种勘查订单的严格定位要求.
主要方法:
- 在实时运动 (RTK) 模式下运行的Ellipse-D GNSS/INS系统用于定位"HydroDron"自动地表车辆 (ASV).
- 在波兰克洛德诺湖 (Kłodno Lake) 沿着四条不同的路线进行测量,采用并行和螺旋式探测配置文件.
- 分析了3D位置坐标 (北向,东向,高度) 和欧勒角 (俯冲,滚动) 来评估系统性能.
主要成果:
- 在RTK模式下Ellipse-D GNSS/INS系统在移动网络覆盖范围有限的地区实现了0.877米至0.941米 (R95(2D)) 之间的定位精度.
- 在使用RTK时,俯冲和滚动误差值约为0.06°,与制造商建议非常相符.
- 即使有间歇性的RTK校正 (30-40%差异模式),系统也满足了所有调查订单的IHO定位要求.
结论:
- 即使暂时失去RTK校正,Ellipse-D GNSS/INS系统也适用于所有IHO订单的内陆水文调查.
- 该系统在USV路径定位方面表现出高精度,满足现代水文作业的苛刻要求.
- 集成GNSS和INS为复杂的内陆水环境中的自主导航提供了可靠的解决方案.
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