基于路网特征的惯性导航辅助定位算法的研究与实现

发布时间：2018-10-09 19:40

【摘要】：随着社会经济的发展与科技水平的提高，惯性导航系统成为了社会经济发展和国防建设中必不可少的部分，并广泛应用于各个领域。但是惯性导航系统的定位误差会随着载体运行时间的增加而累积，严重影响了定位的精度。为了解决这一问题，本文针对基于路网特征的惯性导航辅助定位算法展开研究，通过比较惯导轨迹与路网数据之间的特征差异，寻找两者间的平移向量，并完成对定位点的位置修正。 本文的主要研究内容和完成的工作如下： 1、分析了惯性导航系统以及辅助定位技术的研究现状和存在的问题，，指出采用路网数据辅助惯性导航定位的重要意义。给出了应用于嵌入式或移动载体的基于曲线特征的辅助定位系统的基本框架及各部分的功能，指出在辅助定位系统中，匹配算法是整个系统的核心。对现有的基于路网特征的辅助定位算法进行了分析，指出其普遍存在的问题是在惯性导航系统的累积定位误差较大的情况下无法达到良好的匹配效果。 2、基于路网特征的惯性导航辅助定位算法的研究基础是路网数据，因此路网数据是整个算法的关键。文中分析了路网的结构特点，建立了路网数据的空间索引、拓扑关系，按照标准格网索引和图形拓扑关系，提出了采用二进制文件的方式，以索引文件和路网数据文件对路网数据进行存储，并按照该存储方式实现了数据读取；分析了数据当前压缩算法的不足，针对存在的冗余和无效数据，设计了基于斜率的数据压缩化简方法，并提出了惯导数据滤波的基本原则，实现了数据的预处理。 3、本文针对惯导累积定位误差较大的问题，提出一种基于路网特征的惯性导航辅助定位算法。特征提取是整个算法运转的核心，文中设计了一种用于基于行驶状态与子状态共同判定的曲线特征提取模型，针对不同形状特征的复杂道路进行特征段的提取，具有较好的适应性和较高的提取效率。同时设计了从路网数据和惯导轨迹进行特征提取、特征最小外界矩阵计算、投影点判断、平移向量的解算直到最后通过迭代误差修正的具体算法流程，有效地抑制了惯导误差的发散，适用于嵌入式环境下惯性导航的定位误差修正。 4、论文最后利用Microsoft visual C++6.0开发环境完成了基于路网数据的辅助定位算法的实现，设计了算法的总体功能架构，以及整体算法的基本流程，主要针对算法中数据读取、曲线特征提取以及轨迹匹配与误差修正等功能进行相应的实验验证。通过对实验结果的分析，表明该算法对惯导定位误差的修正有良好的效果，具有较高的应用价值。
[Abstract]:With the development of social economy and the improvement of science and technology, inertial navigation system has become an indispensable part of social economic development and national defense construction, and has been widely used in various fields. However, the positioning error of inertial navigation system will accumulate with the increase of carrier running time, which seriously affects the positioning accuracy. In order to solve this problem, this paper studies the inertial navigation aided positioning algorithm based on road network features, and finds out the translation vector between inertial navigation track and road network data by comparing the characteristics between the inertial navigation track and road network data. And complete the position correction of the positioning point. The main contents and work of this paper are as follows: 1. The research status and problems of inertial navigation system and auxiliary positioning technology are analyzed, and the significance of using road network data to assist inertial navigation positioning is pointed out. In this paper, the basic framework and the functions of the auxiliary positioning system based on curve feature for embedded or mobile carrier are given. It is pointed out that the matching algorithm is the core of the whole system in the auxiliary positioning system. This paper analyzes the existing auxiliary location algorithms based on road network features, and points out that the common problem is that the inertial navigation system can not achieve a good matching effect when the cumulative positioning error is large. 2. The research of inertial navigation aided location algorithm based on road network features is based on road network data, so road network data is the key of the whole algorithm. In this paper, the structural characteristics of road network are analyzed, and the spatial index and topological relation of road network data are established. According to the standard grid index and graph topological relation, the way of using binary file is put forward. The index file and road network data file are used to store the road network data, and the data reading is realized according to the storage mode, and the deficiency of the current data compression algorithm is analyzed, aiming at the redundant and invalid data. The method of data compression and simplification based on slope is designed, and the basic principle of inertial navigation data filtering is put forward, and the preprocessing of data is realized. 3. Aiming at the problem that the cumulative positioning error of inertial navigation is large, this paper presents an aided positioning algorithm for inertial navigation based on road network features. Feature extraction is the core of the whole algorithm. In this paper, a curve feature extraction model based on driving state and sub-state is designed, and the feature segment is extracted for complex road with different shape features. It has better adaptability and higher extraction efficiency. At the same time, the algorithm flow of feature extraction from road network data and inertial navigation track, calculation of feature minimum external matrix, judgement of projection point, calculation of translation vector, and final correction by iterative error are designed. It can effectively restrain the divergence of inertial navigation error and is suitable for the positioning error correction of inertial navigation in embedded environment. Finally, using Microsoft visual C 6.0 development environment, the paper completes the realization of the auxiliary positioning algorithm based on the road network data, designs the overall functional structure of the algorithm and the basic flow of the whole algorithm, mainly aiming at the data reading in the algorithm. The functions of curve feature extraction, trajectory matching and error correction are verified by experiments. Through the analysis of the experimental results, it is shown that the algorithm has a good effect on the correction of the inertial navigation positioning error, and has a higher application value.
【学位授予单位】：解放军信息工程大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：U495;P227.9

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本文编号：2260540