基于曲线匹配的地图匹配辅助激光陀螺惯性导航技术
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摘要
高精度激光陀螺定位定向系统广泛应用于炮兵测地车、导弹发射车等车载平台,由于激光陀螺定位定向系统误差随时间快速积累,因此需要外部信息对其误差进行校正。目前惯性导航系统外部辅助观测手段主要有:零速修正、里程计、卫星导航等,基于卡尔曼滤波实现惯性导航系统误差校正,但均难以满足长时间、高效率、高精度、抗干扰的自主导航定位需求。地图匹配技术具有自主、高精度的特点,采用地图匹配与激光陀螺惯性导航系统相结合,形成地图匹配辅助惯性导航系统可满足以上要求。研究并提出基于曲线匹配的地图匹配方法,充分利用激光陀螺惯性导航系统的高精度姿态信息,基于线特征点间切向量夹角随弧长的变化量衡量待匹配曲线特征间的相似度,较现有的点到点、点到线的匹配技术有更高的定位精度。通过实验分析,曲线匹配修正后激光陀螺定位定向系统水平精度优于15m。
High-precision RLG based inertial position and orientation system is widely used in artillery surveying vehicles,missile launchers and other vehicle platforms.Due to the error of inertial navigation system increases with time,it is essential to use aided measurements to correct it.The common aided observations include zero velocity,odometer and GNSS.By using Kalman filter the inertial navigation system error can be revised.However,it is difficult for the navigation system to work autonomously in long time with high efficiency,high precision and anti-interference.Map matching technology is self-contained and high-precision.Using map-matching to aid inertial navigation system can meet the above requirements.A map matching method based on curve matching is studied and proposed in this paper,which makes full use of the high precision attitude information of the inertial navigation system.Based on the change of the arc tangent angle between the increasing tangents of the line feature points,the similarity between the characteristics of the matching curve is effectively assessed.The new method has better performance than the point to point and point to line matching technology.Through the experimental analysis,the curve matching method accuracy is better than 15 m.
High-precision RLG based inertial position and orientation system is widely used in artillery surveying vehicles,missile launchers and other vehicle platforms.Due to the error of inertial navigation system increases with time,it is essential to use aided measurements to correct it.The common aided observations include zero velocity,odometer and GNSS.By using Kalman filter the inertial navigation system error can be revised.However,it is difficult for the navigation system to work autonomously in long time with high efficiency,high precision and anti-interference.Map matching technology is self-contained and high-precision.Using map-matching to aid inertial navigation system can meet the above requirements.A map matching method based on curve matching is studied and proposed in this paper,which makes full use of the high precision attitude information of the inertial navigation system.Based on the change of the arc tangent angle between the increasing tangents of the line feature points,the similarity between the characteristics of the matching curve is effectively assessed.The new method has better performance than the point to point and point to line matching technology.Through the experimental analysis,the curve matching method accuracy is better than 15 m.
引文
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[11]李德彪,刘素珍.基于激光陀螺的舰船姿态信息测量系统[J].光学与光电技术,2013,11(6):79-83.LI De-biao,LIU Su-zhen.Attitude information measurement system of warship based on laser gyro[J].Optics&Optoelectronic Technology,2013,11(6):79-83.
[12]乐晋,高黎明,杨玉孔.一种适用于双轴旋转式激光陀螺惯导对准的方法研究[J].光学与光电技术,2011,9(4):66-68.YUE Jin,GAO Li-ming,YANG Yu-kong.Research on alignment of two-axis rotating inertial navigation system with laser gyroscope[J].Optics&Optoelectronic Technology,2011,9(4):66-68.
[13]Joshi R R.A new approach to map matching for in-vehicle navigation systems:the rotational variation metric[C].Intelligent Transportation Systems,IEEE,2001:33-38.
[14]Joshi R R.Novel metrics for map-matching in in-vehicle navigation systems[C].Intelligent Vehicle Symposium,IEEE,2002:17-21.
[2]宋悦.融入惯导传感信息的地图匹配算法的研究及应用[D].北京:北京交通大学,2013.SONG Yue.Research and application of map-matching algorithm with the inertial navigation sensor information[D].Beijing:Beijing Jiaotong University,2013.
[3]李翔.基于路网特征的惯性导航辅助定位算法的研究与实现[D].郑州:解放军信息工程大学,2009.LI Xiang.Research and implementation on aided inertial navigation positioning algorithm based on road networks feature[D].Zhengzhou:PLA Information Engineering University,2009.
[4]孙文彬.曲线匹配在航位推算器自主导航中的应用[D].成都:西南交通大学,2003.SUN Wen-bin.The application of curve matching in navigation based on dead-reckoning[D].Chengdu:Southwest Jiaotong University,2003.
[5]White C E,Bernstein D,Kornhauser A L.Some map matching algorithms for personal navigation assistants[J].Transportation Research Part C:Emerging Technologies,2000,8(1):91-108.
[6]Quddus M A,Ochieng W Y,Noland R B.Current map-matching algorithms for transport applications:State-ofthe art and future research directions[J].Transportation Research Part C:Emerging Technologies,2007,15(5):312-328.
[7]Levin R,Kravi E,Kanza Y.Concurrent and robust topological map matching[C].Proceedings of the 20th International Conference on Advances in Geographic Information Systems.ACM,2012:617-620.
[8]Quddus M A,Ochieng W Y,Zhao L,et al.A general map matching algorithm for transport telematics applications[J].GPS solutions,2003,7(3):157-167.
[9]Yang D,Cai B,Yuan Y.An improved map-matching algorithm used in vehicle navigation system[C].Intelligent Transportation Systems,IEEE,2003,2:1246-1250.
[10]韩雪峰.支承结构惯量对激光陀螺抖频及精度特性的影响分析[J].光学与光电技术,2017,15(6):89-94.HAN Xue-feng.Analysis of dithered frequency of RLG and influence on its precision[J].Optics&Optoelectronic Technology,2017,15(6):89-94.
[11]李德彪,刘素珍.基于激光陀螺的舰船姿态信息测量系统[J].光学与光电技术,2013,11(6):79-83.LI De-biao,LIU Su-zhen.Attitude information measurement system of warship based on laser gyro[J].Optics&Optoelectronic Technology,2013,11(6):79-83.
[12]乐晋,高黎明,杨玉孔.一种适用于双轴旋转式激光陀螺惯导对准的方法研究[J].光学与光电技术,2011,9(4):66-68.YUE Jin,GAO Li-ming,YANG Yu-kong.Research on alignment of two-axis rotating inertial navigation system with laser gyroscope[J].Optics&Optoelectronic Technology,2011,9(4):66-68.
[13]Joshi R R.A new approach to map matching for in-vehicle navigation systems:the rotational variation metric[C].Intelligent Transportation Systems,IEEE,2001:33-38.
[14]Joshi R R.Novel metrics for map-matching in in-vehicle navigation systems[C].Intelligent Vehicle Symposium,IEEE,2002:17-21.