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弹箭与制导学报 >

2021 , Vol. 41 >Issue 4: 20 - 23

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2021.04.005

低成本PPP/INS组合导航在车辆导航中的应用

  • 左朝阳 1 ,
  • 陈坡 2 ,
  • 孟东容 1
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  • 1 西京学院机械工程学院,西安 710123
  • 2 96863部队,河南洛阳 471000

左朝阳(1980—),男,陕西富平人,副教授,博士,研究方向:先进控制方法,智能算法。

收稿日期: 2020-04-30

  网络出版日期: 2025-02-13

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Low-cost PPP/INS Integration for Continuous and Precise Vehicular Navigation

  • ZUO Zhaoyang 1 ,
  • CHEN Po 2 ,
  • MENG Dongrong 1
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  • 1 School of Mechanical Engineering, Xijing University, Xi’an 710123, China
  • 2 No.96863 Unit, Henan Luoyang 471000, China

Received date: 2020-04-30

  Online published: 2025-02-13

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摘要

针对单频精密单点定位(SF-PPP)在全球导航卫星系统(GNSS)信号受遮挡或受干扰环境中精度降低的问题,提出了一种面向车辆导航的低成本PPP/INS组合导航方案。该方案通过惯性测量单元(IMU)来实现低成本的目标要求,再利用精密单点定位高精度解决惯性测量系统的漂移误差问题,从而实现较快的收敛性和较高的估计精度。实验结果表明,在开阔区域和城市近郊区域,该方案能够提供亚米级导航精度,在GNSS信号中断3 min时,系统的导航精度优于U-Box无约束航位推算法,确保车辆能够可靠的连续导航。

关键词： SF-PPP; SF-PPP/INS; 车辆导航

本文引用格式

左朝阳 , 陈坡 , 孟东容 . 低成本PPP/INS组合导航在车辆导航中的应用[J]. 弹箭与制导学报, 2021 , 41(4) : 20 -23 . DOI: 10.15892/j.cnki.djzdxb.2021.04.005

Abstract

In order to improve the accuracy of single frequency precise point positioning (SF-PPP) in challenging environments where the GNSS signal is degraded or totally blocked,a low-cost PPP/INS integrated navigation scheme for land vehicular navigation is proposed. In this scheme, IMU inertial measurement unit is used to achieve the target low-cost requirements, and PPP is used to solve the drift error problem of INS, so as to achieve fast convergence and high estimation accuracy. The experimental results show that the SF-PPP / INS integrated navigation system can provide submicron navigation accuracy in open areas and suburban areas. When GNSS signal is interrupted for 3 min, the navigation accuracy of the system is better than that of U-box unrestricted dead reckoning (UDR). The system will be helpful to the application of vehicle navigation with low cost and high precision, and ensure that the vehicle can reliably and continuously navigate.

Key words： SF-PPP; SF-PPP/INS; vehicular navigation

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