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论文:2018,Vol:36,Issue(2):396-402 |
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引用本文： |
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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 |
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Gao Yang, Gao Li, Wu Meng, Wang Chengbin. A GPS/IMU/DMI Combined Navigation Method[J]. Northwestern polytechnical university |
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| GPS/IMU/DMI组合导航方法研究 |
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| 高扬1,2, 高逦3, 乌萌1,2, 王成宾1,2 |
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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 |
| 摘要: |
| 利用可量测影像具有高精度空间位置信息的特点，提出了一种可量测影像与GPS、IMU组合导航方法。提出了系统框架，研究了可量测影像与道路网数据一体化组织方法，可量测影像与实时影像匹配定位算法，可量测影像与GPS、IMU联邦卡尔曼滤波导航模型。实验表明，新方法可以弥补车辆导航系统卫星信号失锁、惯性器件误差随时间累积发散等问题，提高了系统在复杂环境中定位精度和稳健性。 |
| 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
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| A GPS/IMU/DMI Combined Navigation Method |
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| Gao Yang1,2, Gao Li3, Wu Meng1,2, Wang Chengbin1,2 |
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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 |
| Abstract: |
| 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
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| 收稿日期: 2017-04-20
修回日期:
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| DOI: |
| 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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| 作者相关文章 |
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| 高扬 在本刊中的所有文章 |
| 高逦 在本刊中的所有文章 |
| 乌萌 在本刊中的所有文章 |
| 王成宾 在本刊中的所有文章 |
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