DGPS/INS-based vehicle positioning with novel DGPS noise processing
DGPS/INS-based vehicle positioning with novel DGPS noise processing
复制标题
基于 DGPS/INS 的车辆定位，具有新颖的 DGPS 噪声处理功能
DOI：
10.1109/acc.2006.1657338
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Jihua Huang
中科院分区：
文献类型：
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作者：
H. Tan;Jihua Huang
车辆定位系统是车辆导航、驾驶员提醒和辅助以及车辆自动化等功能的关键部件。典型的车辆应用要求在所有操作条件下具有高可靠性、低成本和足够的精度。本文探讨了在城市驾驶环境下使用低阶车辆定位系统的可行性。装备的车辆将有一个中程差分GPS（DGPS）单元和一些相对简单的车载传感器。研究了只考虑飞行器纵向、横向和偏航运动的低阶DGPS/INS组合。研究了城市环境下DGPS测量数据的特性，针对DGPS常见的阻塞和多径问题，提出了新的DGPS噪声处理技术。最后，在试验飞行器上成功实现了基于四阶卡尔曼滤波的DGPS/INS组合，验证了所提设计方案的可行性。实验结果表明，在典型的城市驾驶环境下，该系统能够满足精度和鲁棒性要求
The vehicle positioning system is a key component in such functions as vehicle guidance, driver alert and assistance, as well as vehicle automation. Typical vehicle applications require high reliability, low cost and sufficient accuracy under all operation conditions. This paper explores the feasibility of a low-order vehicle positioning system functioning under urban driving environments. The equipped vehicle will have a mid-range differential GPS (DGPS) unit and a few relatively simple in-vehicle sensors. A low-order DGPS/INS integration is explored by considering only vehicle longitudinal, lateral and yaw motions. The characteristics of DGPS measurements under urban environment are investigated and novel DGPS noise processing techniques are proposed to address common DGPS problems such as blockage and multipath. A resulting 4th-order Kalman filter-based DGPS/INS integration is successfully implemented in the test vehicle to demonstrate the feasibility of the proposed design. Experimental results illustrate the ability of the system to meet the accuracy and robustness requirements under a typical urban driving environment