基于虚拟约束的GNSS/IMU综合导航系统的图形优化方法研究
Haiyang Qiu1, Yun Zhao2, Hui Wang1
1School of Naval Architecture and Ocean Engineering, Guangzhou Maritime University, Guangzhou 510725, China.
Sensors (Basel, Switzerland)
|July 13, 2024
概括
本研究介绍了一个图形优化模型,用于全球导航卫星系统/惯性测量单元 (GNSS/IMU) 导航的虚拟约束. 该方法提高了卫星信号异常期间的准确性和连续性,提高了导航系统的性能.
科学领域:
- 导航系统工程 导航系统工程
- 机器人技术和自主系统
- 地理学工程 工程地质学
背景情况:
- 全球导航卫星系统 (GNSS) 和惯性测量单元 (IMU) 的整合对于准确的导航至关重要.
- 卫星遮蔽和非视线 (NLOS) 条件降低了GNSS定位精度,影响了集成系统的性能.
- 现有的方法在GNSS信号异常期间努力有效利用历史伪范围数据.
研究的目的:
- 提出一种基于图形优化的新型GNSS/IMU模型,包含虚拟约束.
- 在面对GNSS信号退化时增强导航系统的完整性和连续性.
- 通过使用真实世界的数据,对拟议模型与传统方法的性能进行评估.
主要方法:
- 为GNSS/IMU集成开发图形优化模型.
- 引入来自卫星短暂,先前位置和伪色率的虚拟约束.
- 对图形模型边缘化的分析和与传统的GNSS/IMU和SLAM图形模型的比较.
主要成果:
- 拟议的方法在即时测试中实现了RMSE误差在5%的真实伪范围测量中.
- 在10秒GNSS中断期间,水平RMSE精度比传统图形优化提高了30%.
- 保持系统完整性和连续性,尽管模拟了卫星信号异常.
结论:
- 虚拟约束方法有效地解决了集成导航系统中的GNSS信号异常.
- 拟议的图形优化模型为传统方法提供了强大而准确的替代方案.
- 该方法显示了需要在具有挑战性的条件下可靠导航的实际应用的巨大潜力.
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