【摘 要】
：
卫星遮挡、信号干扰等复杂环境下,无人机器人的高可信定位与导航是实现其自主行驶的必要前提.本文针对由惯性测量单元(IMU)、全球卫星定位系统(GNSS)以及双目相机等构成的组合导航系统,采用传感器深组合模式,提出了一种基于增量平滑因子图的无人机器人可信导航方法.该方法首先通过构建各传感器及深度组合导航因子图模型,进行增量平滑优化,实现多传感器信息的高精度融合、传感器参数标定与视觉特征标注.在GNSS
【机 构】
：
空军研究院通信与导航研究所,北京,中国,100094 哈尔滨工业大学,哈尔滨,中国,150001
论文部分内容阅读
卫星遮挡、信号干扰等复杂环境下,无人机器人的高可信定位与导航是实现其自主行驶的必要前提.本文针对由惯性测量单元(IMU)、全球卫星定位系统(GNSS)以及双目相机等构成的组合导航系统,采用传感器深组合模式,提出了一种基于增量平滑因子图的无人机器人可信导航方法.该方法首先通过构建各传感器及深度组合导航因子图模型,进行增量平滑优化,实现多传感器信息的高精度融合、传感器参数标定与视觉特征标注.在GNSS拒止时,通过惯性测量单元与双目视觉的深组合,并利用获取的传感器参数、视觉特征等知识,实现了短时无人机器人的高精度定位导航.因子图的引入,实现了传感器的即时接入/退出,确保了导航模式的平滑切换.另一方面,该方法考虑多传感器之间的信息比对与校验,显著提高了定位导航的可信性.最后,通过构建数学仿真系统,设置多个场景开展本文所提方法的数学仿真,结果表明在GNSS可用时融合算法具有较高导航精度,并可对之间的导航状态进行较好地平滑;在GNSS拒止时,能够平稳切换,通过IMU与相机的组合实现较长时间的可信定位导航,全面验证了方法的有效性与算法的可信性.
其他文献
With the rapid development of GNSS technology in the field of atmospheric and ocean remote sensing,especially the rise of GNSS remote sensing technology such as GNSS-R,which has promoted the wider app
In recent years,due to the open access to raw GNSS measurements,it is possible to study other PVT algorithms to improve the positioning accuracy on smartphones.In this paper,we first give the analysis
Turn detection can be widely used in location navigation,user behavior identification,and scene awareness.Accurate real-time identification of pedestrian turns contributes to improving the accuracy of
The ground-based GNSS tomography technology can obtain three-dimensional distribution of water vapor.However,many voxels may not be passed through by satellite rays because of the limitation of satell
With the continuous improvement of Global Navigation Satellite System(GNSS)theory,the signal-to-noise ratio(SNR)of a GNSS reflectometry signal can be applied to detect snow depth.However,there are sti
Snowfall as an important global freshwater resource,especially for Xinjiang Altai region in the snow all the year round,accurate and convenient snow thickness monitoring is particularly important,at p
The global navigation satellite system(GNSS)has the advantages of high precision,high temporal resolution and low cost.The total electronic content(TEC)can be calculated by GNSS observations.The TEC s
In the calculation of high-precision GNSS data,solid tides,tides and atmospheric tides are not negligible factors in the solution process.In the present study,a large number of studies have been condu
Since May 2016,QianXun Spatial Intelligence Inc.has launched its Beidou ground-based augmentation system(QX-GBAS)which supports high-precision GNSS positioning service within the national coverage.The
针对北斗三频信号的模糊度解算算法具有速度快的优点,但需要使用伪距观测值.在动态测量中,受观测环境影响,伪距观测值容易出现粗差,这降低了三频模糊度解算算法的正确率.针对该问题,提出利用惯性辅助TCAR算法,使用惯导预测位置计算接收机和卫星间的几何距离,替代B3频点伪距计算超宽巷,以提高复杂动态观测环境下的TCAR算法正确率.构建BDS/INS紧组合模型,推导了INS辅助TCAR算法的公式.进行了两次