| 封闭环境下限制误差发散的高精度导航定位 |
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| 引用本文： | 王晓静,唐超,王勇,侯海倩,杨晓飞.封闭环境下限制误差发散的高精度导航定位[J].测绘通报,2021,0(8):65-68,73. |
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| 作者姓名： | 王晓静 唐超 王勇 侯海倩 杨晓飞 |
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| 作者单位： | 北京城建勘测设计研究院有限责任公司,北京100101;城市轨道交通深基坑岩土工程北京市重点实验室,北京100101 |
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| 摘 要： | 基于GNSS系统的导航定位设备在封闭或受阻环境下导航精度受限，为此，提升地下空间或室内定位精度，摆脱对GNSS的依赖是当前的研究热点。针对该问题，本文研究了LiDAR+IMU+DMI多源传感器导航定位技术，通过将LiDAR控制标靶数据带入卡尔曼滤波方程，计算IMU+DMI组合的误差状态向量，限制其误差发散，从而获取设备的高精度位置。该技术能使移动检测设备完全摆脱对GNSS信号的依赖，实现地下封闭空间移动测量设备精确定位，便于地下空间检测。通过在武汉某地铁试验表明，本文算法适用于地下、室内空间封闭环境中无GNSS信号的移动测量设备高精度导航定位。
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| 关 键 词： | 封闭环境 LiDAR数据 精度分析 移动导航 限制误差发散算法 |
| 收稿时间： | 2020-06-30 |
| 修稿时间： | 2021-06-27 |
High-precision navigation and positioning method with limited error divergence algorithm under closed environment |
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| WANG Xiaojing,TANG Chao,WANG Yong,HOU Haiqian,YANG Xiaofei.High-precision navigation and positioning method with limited error divergence algorithm under closed environment[J].Bulletin of Surveying and Mapping,2021,0(8):65-68,73. |
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| Authors: | WANG Xiaojing TANG Chao WANG Yong HOU Haiqian YANG Xiaofei |
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| Institution: | 1. Beijing Urban Construction Exploration and Surveying Design Research Institute Co., Ltd., Beijing 100101, China;2. Beijing Key Laboratory of Deep Foundation Pit Geotechnical Engineering of Rail Transit, Beijing 100101, China |
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| Abstract: | The navigation accuracy of navigation and positioning devices based on GNSS system is limited in closed or blocked environment. Therefore, improving indoor positioning accuracy and getting rid of GNSS dependence is a current research hotspot. Aiming at this problem, this paper studies the LiDAR+IMU+DMI multi-source sensor navigation and positioning technology. By bringing the LiDAR control target data into the Kalman filter equation, the error state vector of the IMU+DMI combination is calculated, and the error dispersion is limited, so as to obtain the high-precision position of the device. This technology can make the mobile measuring equipment completely get rid of the dependence on GNSS signal, realize the accurate positioning of the mobile measuring equipment in underground closed space, and facilitate the detection of underground space. Experiments on a subway in Wuhan show that the proposed algorithm is suitable for high precision navigation and positioning of mobile measuring equipment without GNSS signal in underground and indoor enclosed environment. |
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| Keywords: | enclosed environment LiDAR data precision analysis mobile navigation limited error divergence algorithm |
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