GPS/IMU/DMI组合导航方法研究 -- 西北工业大学学报,2018,36(2):396-402
高扬, 高逦, 乌萌, 王成宾. GPS/IMU/DMI组合导航方法研究[J]. 西北工业大学学报
Gao Yang, Gao Li, Wu Meng, Wang Chengbin. A GPS/IMU/DMI Combined Navigation Method[J]. Northwestern polytechnical university

高扬1,2, 高逦3, 乌萌1,2, 王成宾1,2
1. 地理信息工程国家重点实验室, 陕西 西安 710054;
2. 西安测绘研究所, 陕西 西安 710054;
3. 西北工业大学 计算机学院, 陕西 西安 710072
关键词:    可量测影像    影像匹配    卫星导航系统    惯性测量单元    联邦卡尔曼滤波   
A GPS/IMU/DMI Combined Navigation Method
Gao Yang1,2, Gao Li3, Wu Meng1,2, Wang Chengbin1,2
1. State Key Laboratory of Geo-Information Engineering, Xi'an 710054, China;
2. Xi'an Research Institute of Surveying and Mapping, Xi'an 710054, China;
3. School of Computer Science, Northwestern Polytechnical University, Xi'an 710072, China
According to the characteristics of DMI with high-precision position information, a navigation method combines DMIs with GPS and IMU is proposed in this paper. Firstly, the prototype system architecture is presented and its operational principle is discussed. Secondly, some key technologies are studied, which include integrated organization method of DMIs and road net data, the position method based on DMI matching with real-time image and the federal Kalman filter model with DMI, GPS and IMU. Finally, experimental results show that the proposed method can counteract GPS signal's unlocking problem and the inertial component's divergence for its error accumulation with time in a vehicle navigation system, whose positioning accuracy and robustness are improved in complex environment.
Key words:    digital measurable image    image matching    global positioning system    inertial measurement unit    federal Kalman filter   
收稿日期: 2017-04-20     修回日期:
基金项目: 国家自然科学基金(60803158)资助
通讯作者:     Email:
作者简介: 高扬(1969-),西安测绘研究所高级工程师,主要从事卫星导航、地理信息系统的研究。
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