| 一种GNSS/视觉观测紧组合导航定位算法研究 |
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| 引用本文： | 冯祎,涂锐,韩军强,张垠,李芳馨,洪菊,张世旋.一种GNSS/视觉观测紧组合导航定位算法研究[J].全球定位系统,2021,46(6):49-54. |
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| 作者姓名： | 冯祎 涂锐 韩军强 张垠 李芳馨 洪菊 张世旋 |
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| 作者单位： | 1.中国科学院国家授时中心, 西安 710600 |
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| 基金项目： | 国家自然科学基金项目(41974032)；中组部、陕西省、中科院高层次人才项目 |
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| 摘 要： | 全球卫星导航系统(GNSS)在弱信号环境下，GNSS信号易受到遮挡或者电磁干扰，严重影响导航定位的可靠性、连续性和精度. 针对此问题，本文作者研究了一种GNSS和视觉观测紧组合导航定位方法. 首先基于相机采集图像数据，利用ORB-SLAM2开源平台求解得到视觉位置结果增量，再联合GNSS伪距观测数据采用卡尔曼滤波(KF)进行组合定位解算. 采用实测的GNSS伪距观测数据和图像数据进行测试，试验结果表明:该算法不仅能有效地提升GNSS弱信号环境下导航定位的连续性和精度，还能在卫星数少于4颗时保持持续导航定位.
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| 关 键 词： | 视觉导航 全球卫星导航系统(GNSS) GNSS弱信号环境 紧组合 卡尔曼滤波(KF) |
| 收稿时间： | 2021-08-10 |
Study on a tight integrated navigation and positioning algorithm of GNSS/visual observation |
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| Institution: | 1.National Time Service Center, Chinese Academy of Sciences, Xi’an 710600, China2.University of Chinese Academy of Sciences, Beijing 100049, China |
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| Abstract: | The Global Navigation Satellite System (GNSS) signals are susceptible to occlusion or electromagnetic interference in weak GNSS environments, which may seriously affect the reliability, continuity and accuracy of navigation and positioning. To solve this problem, this paper studies a tightly integrated navigation and positioning method with GNSS and visual combined observations. Firstly, with the image data collected by the camera, the ORB-SLAM2 open source platform is used to obtain the visual position result increment, and then combined with the GNSS pseudo-range observation data using Kalman filter for combined positioning solution. Validation is conducted with measured GNSS pseudo-range observation data and image data, the test results show that the algorithm can not only effectively improve the continuity and accuracy of navigation and positioning in weak GNSS environment, but also maintain continuous navigation when the number of satellites is less than four. |
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