在多路径环境中使用GNSS/UWB/INS集成与位估计的稳健导航,以实现eVTOL操作
Atsushi Osaka1, Toshiaki Tsujii1
1Department of Aerospace Engineering, Graduate School of Engineering, Osaka Metropolitan University, Nakamozu Campus, Osaka 599-8531, Japan.
Sensors (Basel, Switzerland)
|December 31, 2025
概括
这项研究整合了全球导航卫星系统 (GNSS),超宽带 (UWB) 和惯性导航系统 (INS),以改善无人机在具有挑战性的城市环境中的定位. 新的框架大大减少了由信号反射引起的错误,实现了次计准确性.
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) 对自动驾驶汽车和城市空中交通至关重要,但由于多路径干扰,在复杂的环境中难以准确.
- 多路径效应,信号阻塞和城市结构的衰减严重降低了GNSS定位性能,对安全关键的应用构成风险.
- 现有的超宽带 (UWB) 系统需要精确的预测点位置,这限制了它们的部署灵活性.
研究的目的:
- 开发和评估一个松散集成的导航框架,将GNSS,UWB和惯性导航系统 (INS) 数据结合起来.
- 在GNSS退化环境中提高定位准确性和稳定性,特别是解决多路径效应.
- 为了使UWB自我定位,减少对预先调查的基础设施的依赖.
主要方法:
- 设计了一个松散合的导航过器,集成GNSS,UWB和INS传感器数据.
- 使用UWB测距测量,使用扩展方法来估计UWB位.
- 实地实验是使用无人机在多路线的户外城市环境中进行的.
主要成果:
- 与单独的GNSS/INS相比,拟的GNSS/UWB/INS集成实现了高达90%的定位错误减少.
- 在具有足够UWB覆盖范围的区域中,可以证明子仪级定位准确性.
- 该系统对城市峡谷固有的多路径干扰表现出了显著的稳定性.
结论:
- 集成的GNSS/UWB/INS导航框架为在具有挑战性的城市环境中准确定位提供了强大的解决方案.
- 估计UWB点位置的能力减轻了关键的部署障碍,提高了UWB系统的实用性.
- 这种方法为未来的应用提供了可靠导航的途径,例如电动垂直起降 (eVTOL) 飞机.
关键词:
在GNSS中使用GNSS.惯性导航系统是一种惯性导航系统.多路径的多路径.定位准确度 定位准确度 定位准确度融合传感器 融合传感器 融合传感器信号的阻塞阻塞信号.超宽带超宽带的使用城市环境 城市环境更多相关视频
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