智能车辆SINS_DGPS_光电测速仪组合导航研究.pdfVIP

第20 卷 第6 期 传 感 技 术 学 报 V ol. 20 No. 6 200 7 年6 月 CHINESE JOURNAL OF SENSORS AND ACT UATORS JUN. 2007 SINS/ DGPS/ Speedometer Integrated Navigation for Intelligent Vehicle* * L I X u , ZH A N G Wei-gong ( Colleg e of I nstr ument of S cience and T echnolog , Southeast Univ er sit , N anj ing 210096, China) Abstract:To satisfy the navigation demands such as high accuracy, high frequency and high reliability for autonomous Intelligent Vehicle, a ne mult-i sensor integrated navigation technique is studied. An inte- grated navigation method in hich SINS is aided by photoelectric speedometer and CP-DGPS is proposed. Then, simulation experiments are made. Simulation results sho that the proposed navigation method can provide enough navigation information at 100Hz ith cm-level navigation accuracy and good fault-tolerant ability. Even hen GPS is continuously interrupted for a period, Intelligent Vehicle can still get reliable navigation information by SINS/ Speedometer integration. Key ords:intelligent vehicle; autonomous driving; integrated navigation; information fusion EEACC:7230C;7320E SINS/ DGPS/ * * 李 旭 , 张为公 ( , 210096) :, . CP-DGPS SINS , ., , 100 Hz ,GPS ,SINS/ . : ; ;; :TP212. 1 :A :1004-1699(2007)06-1437-06 , . , 90% , , [ 1] ., , , , [ 3-6] IT S(Intelligent Transportation . , System) AH S ( Automated High ay System ) CP- AVCS( Advanced Vehicle Control System) DGPS( Carrier Phase-Differential GPS, [ 1-2] . GPS) SINS( Strapdo n Inertial Nav-i gat