一体化多系统无缝定位算法设计

Integration of Multiple Systems Seamless Localization Algorithm Design

摘要:

介绍了“区域性定位”和“无缝隙定位”两种模式下三种系统的一体化导航定位,三种系统分别是区域无线、卫星和捷联惯性系统;其中自主性强的惯性定位系统可以连续地输出所需的导航定位信息,并且短期内精度和稳定性都是比较优秀的,但要克服惯性长期工作积累误差的问题,可以采取一体化的方式将其他两种导航定位加以整合;最后通过跑车试验验证了整合后的系统具有适应环境能力强,容错性好的特点。

Abstract:

The paper’s background is the “regional-positioning” and “seamless- positioning”, it is consist of the three systems, respectively is the regional wireless, satellite and strapdown inertial system. Among them, the inertial positioning system strong autonomy can continuously output the needed navigation information in the short term. But for a long time, its error has a sharp increase. Adopting the method which combines the navigation positioning system with others can solve this problem. Finally, car experiment was made to prove it has environmental adaptability, good fault-tolerant.