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1.
Differential carrier phase observations from GPS (Global Positioning System) integrated with high-rate sensor measurements,
such as those from an inertial navigation system (INS) or an inertial measurement unit (IMU), in a tightly coupled approach
can guarantee continuous and precise geo-location information by bridging short outages in GPS and providing a solution even
when less than four satellites are visible. However, to be efficient, the integration requires precise knowledge of the lever
arm, i.e. the position vector of the GPS antenna relative to the IMU. A previously determined lever arm by direct measurement
is not always available in real applications; therefore, an efficient automatic estimation method can be very useful. We propose
a new hybrid derivative-free extended Kalman filter for the estimation of the unknown lever arm in tightly coupled GPS/INS
integration. The new approach takes advantage of both the linear time propagation of the Kalman filter and the nonlinear measurement
propagation of the derivative-free extended Kalman filter. Compared to the unscented Kalman filter, which in recent years
is typically used as a superior alternative to the extended Kalman filter for nonlinear estimation, the virtue of the new
Kalman filter is equal estimation accuracy at a significantly reduced computational burden. The performance of the new lever
arm estimation method is assessed with simulated and real data. Simulations show that the proposed technique can estimate
the unknown lever arm correctly provided that maneuvers with attitude changes are performed during initialization. Field test
results confirm the effectiveness of the new method. 相似文献
2.
GPS可见卫星数量不足使得观测方程抗差性下降,在城市环境下一般难以精确定位。文章通过GPS/UWB组合定位抑制GPS观测粗差对定位精度的影响,提升组合系统的定位性能。实验证明,组合系统较GPS单系统在观测值数量、RDOP值、浮点解精度、双差模糊度浮点解精度和固定解精度方面均得到大幅改善。文章认为,借助UWB优秀的测距性能有效地提高了GPS的生存能力,特别是在城市峡谷等GPS信号遮挡严重的环境下应加设一定数量的UWB基准站,保证用户定位的连续性与准确性。 相似文献
3.
全球卫星导航系统(GNSS)与超宽带(UWB)等定位系统在室内外复杂环境下作用范围有限,并且单一定位源均无法获得从室外到室内连续可靠的定位结果等问题,针对北斗卫星导航系统(BDS)+GPS/UWB松组合定位方法展开研究,设计了室内外动态定位实验与过渡区域静态定位实验,利用扩展卡尔曼滤波器(EKF)对定位误差状态进行最优估计,并对BDS+GPS组合、UWB以及BDS+GPS/UWB松组合三种定位模式进行分析评价.实验结果表明：在室内外的过渡区域,BDS+GPS/UWB松组合改善了GNSS-实时动态定位(RTK)的定位精度,扩展了GNSS-RTK的作用范围;BDS+GPS/UWB松组合相比于各单一定位源在一定程度上提高了系统从室外到室内定位的连续性与定位结果的可用性. 相似文献
4.
Dead reckoning techniques such as inertial navigation and odometry are integrated with GPS to avoid interruption of navigation
solutions due to lack of visible satellites. A common method to achieve a low-cost navigation solution for land vehicles is
to use a MEMS-based inertial measurement unit (IMU) for integration with GPS. This integration is traditionally accomplished
by means of a Kalman filter (KF). Due to the significant inherent errors of MEMS inertial sensors and their time-varying changes,
which are difficult to model, severe position error growth happens during GPS outages. The positional accuracy provided by
the KF is limited by its linearized models. A Particle filter (PF), being a nonlinear technique, can accommodate for arbitrary
inertial sensor characteristics and motion dynamics. An enhanced version of the PF, called Mixture PF, is employed in this
paper. It samples from both the prior importance density and the observation likelihood, leading to an improved performance.
Furthermore, in order to enhance the performance of MEMS-based IMU/GPS integration during GPS outages, the use of pitch and
roll calculated from the longitudinal and transversal accelerometers together with the odometer data as a measurement update
is proposed in this paper. These updates aid the IMU and limit the positional error growth caused by two horizontal gyroscopes,
which are a major source of error during GPS outages. The performance of the proposed method is examined on road trajectories,
and results are compared to the three different KF-based solutions. The proposed Mixture PF with velocity, pitch, and roll
updates outperformed all the other solutions and exhibited an average improvement of approximately 64% over KF with the same
updates, about 85% over KF with velocity updates only, and around 95% over KF without any updates during GPS outages. 相似文献
5.
A CE-5T1 spacecraft completed a high-speed skip re-entry to the earth after a circumlunar flight on October 31, 2014. In addition to the strapdown inertial navigation system (SINS), a lightweight GPS receiver with rapid acquisition was developed as a navigation sensor in the re-entry capsule. The GPS receiver effectively solved the poor accuracy problem of long-term navigation using only the SINS. In contrast to ground users and low-earth-orbit spacecraft, numerous factors, including high altitude and kinetic characteristics in high-speed skip re-entry, are important for GPS positioning feasibility and were presented in accordance with the flight data. GPS solutions started at nearly 4900 km orbital altitude during the phases of re-entry process. These solutions were combined by an inertial measurement unit in a loosely coupled integrated navigation method and SINS navigation initialization. A simplified GPS/SINS navigation filter for limited resources was effectively developed and implemented on board for spacecraft application. Flight data estimation analyses, including trajectory, attitude, position distribution of GPS satellite, and navigation accuracy, were presented. The estimated accuracy of position was better than 42 m, and the accuracy of velocity was better than 0.1 m/s. 相似文献
6.
7.
惯性导航与卫星导航紧耦合技术发展现状 总被引：1，自引：0，他引：1
对紧耦合方案、最优估计滤波算法和硬件开发等几方面进行了总结分析。分析了传统的INS／GPS松组合系统和INS／GPS紧耦合系统的区别;给出了INS／GPS紧耦合系统国内外的发展状况;指出INS／GPS紧耦合系统所涉及的关键技术。 相似文献
8.
9.
10.
Assessment of GPS + Galileo and multi-frequency Galileo single-epoch precise positioning with network corrections 总被引：1，自引：0，他引：1
Several processing strategies that use dual-frequency GPS-only solution, multi-frequency Galileo-only solution, and finally tightly combined dual-frequency GPS + Galileo solution were tested and analyzed for their applicability to single-epoch long-range precise positioning. In particular, a multi-system GPS + Galileo solution was compared to GPS double-frequency solution as well as to Galileo double-, triple-, and quadruple-frequency solutions. Also, the performance of the strategies was analyzed under clear-sky and obstructed satellite visibility in both single-baseline and multi-baseline modes. The results indicate that tightly combined GPS + Galileo instantaneous positioning has a clear advantage over single-system solutions and provides an accurate and reliable solution. It was also confirmed that application of multi-frequency observations in case of Galileo system has an advantage over a dual-frequency solution. 相似文献
11.
吴探诗 《测绘与空间地理信息》2017,40(5)
根据GPS/UWB组合系统的定位原理及时空基准的不同特点,确定了GPS/UWB组合定位数学模型,给出了天线相位中心统一方法和时间同步及实验场建立解决方案,提出运用赫尔默特方差分量估计对组合系统观测量合理定权。最后,在RTKLIB开源软件基础上进行二次开发,验证上述方法的正确性。 相似文献
12.
This paper (the first part of two to be published in this journal) presents the process and results of a critical review of
the integrated GPS and inertial navigation system (INS) architectures, the corresponding failure modes and the existing integrity
monitoring methods. The paper concludes that tightly coupled GPS/INS systems have the highest potential for detecting slowly
growing errors (SGEs). This is due to access to pseudorange measurements and a relatively simpler configuration compared to
the other architectures. The second paper (Part II) takes this further and carries out a detailed characterisation of the
performance of the current integrity algorithms for tightly coupled systems and develops a new algorithm that detects SGEs
faster than the current methods. 相似文献
13.
针对动态环境下GNSS／INS导航定位结果常受粗差影响的问题,提出了一种基于抗差卡尔曼滤波的GPS／BDS双系统RTK／INS紧组合导航定位算法,根据方差膨胀模型,建立抗差卡尔曼算法,得到GNSS／INS紧组合抗差解,并通过两个不同区域的实测车载实验进行了算法验证. 实验结果表明:本方法相较于传统方法,在N、E、D三个方向的导航精度分别提高1.4～4.6 cm,0.7～9 cm,1.5～2 cm,模糊度固定成功率提高10.3％～25.6％,导航精度及可靠性得到显著提高,对动态环境下车载或自动驾驶等应用具有一定的理论参考和实用价值. 相似文献
14.
基于抗差EKF的GNSS/INS紧组合算法研究 总被引：2，自引：0，他引：2
提出了GNSS/INS紧组合导航的抗差EKF算法,采用21状态GNSS/INS紧组合状态方程,根据多余观测分量及预测残差统计构造抗差等价增益矩阵,建立抗差EKF算法,通过迭代给出GNSS/INS组合导航的抗差解,并开发GNSS/INS紧组合导航模拟平台,通过对观测值加入单粗差、多粗差及缓慢增长三类误差,测试本文算法对不同粗差的抑制能力。分析表明,抗差EKF可以将三类粗差抑制在相应观测值的残差中,达到削弱其对状态参数估计的影响。本文算例证明,抗差EKF算法可将导航解的误差精度从dm级提高为cm级甚至mm级,导航精度及可靠性得到明显提高。 相似文献
15.
Attitude determination by integration of MEMS inertial sensors and GPS for autonomous agriculture applications 总被引：3，自引：3，他引：3
Integration of Global Positioning System (GPS) and Inertial Navigation System (INS) technologies, which has widespread usage
in industry, is also regarded as an ideal solution for automated agriculture because it fulfils the accuracy, reliability
and availability requirements of industrial and agricultural applications. Agriculture applications use position, velocity
and heading information for automated vehicle guidance and control to enhance the yield and quality of the crop, and in order
to vary the application of fertilizer and herbicides according to soil heterogeneity at sub-field level. A loosely coupled
GPS/INS integration algorithm known as “AhrsKf” is introduced for automated agriculture vehicle guidance and control utilizing
MEMS inertial sensors and GPS. The AhrsKf can produce high-frequency attitude solutions for the vehicle’s guidance and control
system, by using inputs from a single survey grade L1/L2 antenna, eliminating the need for the previous two antenna solutions.
Given its agricultural application, the AhrsKf has been implemented with some specific design features to improve the accuracy
of the attitude solution including, temperature compensation of the inertial sensors, and the aid of plough lines of farm
lands. To evaluate the AhrsKf solution, two benchmarking tests have been conducted by using a three-antenna GPS system and
NovAtel’s SPAN-CPT. The results have demonstrated that the AhrsKf solution is stable and can correctly track the movement
of the farming vehicle. 相似文献
16.
本文介绍了移动车载测图系统的组成,阐述了POSLV松组合、紧组合的组合策略以及框架体系。为评估POSLV系统的后处理定位精度,对引进的LandMark系统在国内BJBQL和ZZSM两个试验测区进行测试,在受GPS卫星信号失锁的影响下,POSLV数据后处理能否达到稳健的分米级、厘米级定位精度。试验结果表明,无GPS信号失锁时,POSLV数据后处理定位精度平面最大中误差达到5cm,高程最大中误差8cm;GPS失锁时间最长持续15min时,定位精度下降,平面中误差最大达到75cm,高程中误差最大达85cm。 相似文献
17.
Extended Kalman filter (EKF) is a widely used estimator for integrated navigation systems, and it works well in general situations. However, in adverse conditions such as partially observable environments and highly dynamic maneuvers, the performance of the traditional EKF-based strap-down inertial navigation system (SINS)/GPS integrated navigation system is easily to be affected by the dynamic changes of the specific force, thus leading to the problem of error covariance inconsistency. Though the inconsistency problem can be overcome to some extent if the system matrix, the states and the error covariance matrix are propagated as fast as possible in the SINS calculation rate, the problem cannot be fully solved. State transformation extended Kalman filter (ST-EKF) mechanization, with a new converted velocity error model for the SINS, is proposed, which can also be used to solve the inconsistency problem. In the ST-EKF, the specific force vector in the system error model is replaced by the nearly constant gravity vector for local navigation. Since the propagation and the updating of the ST-EKF can be executed simultaneously in the updating interval, the computation cost is greatly reduced compared with the traditional EKF. Experiments for the GPS/SINS tightly coupled navigation, including linear vibration Monte Carlo test and an unmanned aerial vehicle flight test, are implemented to evaluate the performance of the proposed ST-EKF. The results show that the proposed ST-EKF has superior performance to the traditional EKF, especially in partially observable situations. 相似文献
18.
A performance comparison of single and dual frequency GPS ambiguity resolution strategies 总被引：1，自引：1，他引：0
The impact of observation selection, observation combination and model parameterization on GPS carrier phase ambiguity resolution and position accuracy under operational conditions is investigated. The impact of an ionospheric bias for a generic linear combination of L1 and L2 measurements is assessed and the results are used to clearly outline the desirable characteristics for improving ambiguity resolution versus positioning accuracy performance. Ambiguity resolution performance and position accuracy are shown for widelane (WL), L1-only, and ionospheric-free (IF) combinations. Several techniques for dealing with the ionospheric bias are also presented and compared, including stochastic ionospheric modelling. Multiple carrier phase combination solutions estimated in the same filter are also compared. The concept of an optimal processing strategy—in terms of both reliable ambiguity resolution and high accuracy positions—is presented. In total, eight strategies, which vary in observables and parameters, are tested on several datasets ranging from 13 km to 43 km. 相似文献
19.
IMU/DGPS辅助车载CCD及激光扫描仪三维数据采集与建模 总被引：12，自引：2，他引：10
三维信息快速采集是真实场景建模与三维虚拟现实技术的关键。本文提出了一种基于激光扫描仪、线/面阵CCD相机及GPS与IMU等多种传感器融合的车载移动式数据快速采集系统。各传感器安置在车内稳定平台上并随车保持一致的运动姿态。通过对GPS和IMU数据进行卡尔曼(Kalman)滤波,可推测出整个系统及各传感器的位置和最佳姿态估计;从扫描仪点云数据可提取出街道场景中事物的三维几何信息;线阵CCD相机用于获取路面带状地物等线性特征;面阵CCD采集街道两侧面状纹理信息,从而快速获得城市目标的地理坐标和三维建模信息,由此可重建城市路面街道的三维真实场景。 相似文献
20.
针对传统超宽带（UWB）室内定位中非线性跟踪问题,基于当前统计（CS）模型和容积卡尔曼滤波（CKF）,本文提出了一种新的定位算法。即采用奇异值分解（SVD）代替标准CKF算法中的Cholesky分解,提高了算法的稳定性,构造了奇异值分解容积卡尔曼滤波器（SCKF）。首先在CS模型的基础上改进了先验参数的函数形式,得到改进的CS模型（MCS）,实现模型参数的自适应调整;然后将MCS模型引入SCKF滤波器,实现滤波算法的自适应调整;最后利用MCS-SCKF算法对UWB定位系统模型进行解算,从而得到移动目标位置。仿真和试验结果表明,该算法优于CS模型-卡尔曼滤波算法（CS-KF）和CS模型-SCKF算法（CS-SCKF）,提高了UWB室内定位的定位精度。 相似文献