粗精匹配结合的矢量道路辅助惯性导航算法

发布时间：2018-07-06 06:52

  本文选题：粗精匹配 + 矢量道路　； 参考：《测绘学报》2017年08期

【摘要】：针对无源环境下无法采用卫星导航定位方式对惯性导航系统的累积误差进行修正的问题,提出一种采用高精度的矢量道路数据进行粗精匹配的导航校正算法。该方法首先通过分析惯导轨迹的特征标示点以及外接矩形,剔除明显的误匹配道路和冗余道路,获取待匹配道路集合;进而,结合ICCP算法具有匹配精度较高,匹配结果较稳定的优点,完成惯导轨迹位置误差的补偿和校正;最后,根据匹配方差和历史匹配轨迹对匹配结果的准确性进行分析和判断。仿真实验结果表明,该算法能够提高惯性导航定位误差的校正精度,减少在复杂道路交叉口等情况的误匹配。
[Abstract]:In view of the problem that the cumulative error of inertial navigation system can not be corrected by satellite navigation and positioning mode under the passive environment, a navigation correction algorithm with high precision vector road data for coarse and fine matching is proposed. This method first eliminates the obvious errors by analyzing the characteristic marking points and the external rectangles of the inertial navigation trajectory. The matching road and the redundant road are matched to get the set of matching roads. Then, the compensation and correction of the location error of the inertial navigation trajectory is completed with the advantages of high matching precision and stable matching results with the ICCP algorithm. Finally, the accuracy of the matching result is analyzed and judged according to the matching variance and the history matching trajectory. Simulation experimental results are carried out. It shows that the algorithm can improve the accuracy of inertial navigation positioning error and reduce mismatch in complex road intersection.
【作者单位】： 信息工程大学地理空间信息学院;地理信息工程国家重点实验室;
【基金】：国家自然科学基金(41271450;41471336) 国家科技支撑计划(2012BAK12B02) 地理信息工程国家重点实验室开放基金课题(SKLGIE2015-M-4-4) 国家重点研发计划(2016YFB0502300)~~
【分类号】：TN96
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本文编号：2101865