摘要： 根据车载导航的特点，运用单自由度的加速度计代替里程计，提出一种基于低成本的单陀螺仪单加速度计的航位推算(DR)方案。航位推算短时精度高，但误差会随时间积累而变大，DR与GPS导航利用扩展型卡尔曼滤波，形成GPS/DR组合导航系统，融合2个系统的优势，完善导航能力。实际测试结果表明，该GPS/DR组合导航系统能满足车载导航的基本需求，在城市峡谷中有较高的定位精度，且在GPS信号遮挡时能保持定位。
关键词:
车载导航,
航位推算,
陀螺仪,
加速度计,
扩展型卡尔曼滤波器,
组合导航系统
Abstract: According to the characteristics of land vehicle navigation, the single degree of freedom accelerometer can be used as a substitute for the odometer. The Dead Reckoning(DR) scheme is proposed based on a low-cost single accelerometer with a single gyroscope. The DR system’s error accumulates over time, although it has high precision in a short while. Therefore, a GPS/DR integrated navigation system is formed by utilizing the Extented Kalman Filter(EKF). It combines the advantages of both systems and improves the navigation capacity. Actual test result shows that the GPS/DR integrated navigation system can satisfy the basic requirement of land vehicle navigation. It improves the degree of precision in the city valley and is able to work even when GPS signals are masked.
Key words:
vehicle navigation,
Dead Reckoning(DR),
gyroscope,
accelerometer,
Extented Kalman Filter(EKF),
integrated navigation system
中图分类号:
金亮良, 何文涛, 徐建华, 叶甜春, 翟昆朋, 蔺晓龙. 一种低成本GPS/DR组合导航系统设计[J]. 计算机工程, 2012, 38(18): 228-230.
JIN Liang-Liang, HE Wen-Chao, XU Jian-Hua, XIE Tian-Chun, DI Hun-Peng, LIN Xiao-Long. A Low-cost GPS/DR Integrated Navigation System Design[J]. Computer Engineering, 2012, 38(18): 228-230.