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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20030526-28; St.Petersburg(RU) >VEHICULAR NAVIGATION IN URBAN CANYONS USING A HIGH SENSITIVITY GPS RECEIVER AUGMENTED WITH A MEDIUM-GRADE IMU
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VEHICULAR NAVIGATION IN URBAN CANYONS USING A HIGH SENSITIVITY GPS RECEIVER AUGMENTED WITH A MEDIUM-GRADE IMU

机译：使用中等灵敏度IMU增强的高灵敏度GPS接收器在城市峡谷中进行车辆导航

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摘要

Longer GPS signal integration time in a receiver, a technology known as high sensitivity GPS, can significantly improve availability under signal masking conditions by increasing sensitivity by up to 25 dB. This provides a great advantage in navigating in urban canyons where standard sensitivity receivers experience massive signal outages. Unfortunately, this also results in higher measurement noise, errors due to multipath, and in some cases large measurement errors due to tracking of echo-only signals or tracking of cross-correlation peaks. From an epoch-by-epoch least squares estimation standpoint, these error effects result in position solution errors of hundreds of metres in some cases. The use of a Kalman filter with "heavy" constraints provides better results in some cases but may result in major biases and overshooting effects in other cases. In order to improve performance, this paper investigates the augmentation of a high sensitivity GPS receiver with a medium-grade IMU and a map-matching technique. Most of the up-to-date work in the area of GPS/INS integration for vehicular navigation, if not all, deals with cases when a vehicle is driven into a downtown from the open sky areas allowing accurate GPS initialization before the vehicle enters an urban canyon. This research focuses on a problem when the navigation system is being initialized in a harsh downtown GPS environment and is calibrated while driving. Testing of the integrated system was performed in a downtown core with buildings of 10 to 70 stories and mask angles of up to 80 degrees. Results show that with the use of a HS GPS receiver it is possible to initialize the IMU while driving in an urban canyon and with the addition of a map-matching technique it is possible to reliably match the street the vehicle is currently on.
机译：接收机中更长的GPS信号积分时间（一种称为高灵敏度GPS）可以通过将灵敏度提高多达25 dB来显着提高信号屏蔽条件下的可用性。这在导航标准灵敏度接收器遇到大量信号中断的城市峡谷中提供了很大的优势。不幸的是，这还会导致更高的测量噪声，由于多径引起的误差，并且在某些情况下还由于跟踪仅回声信号或跟踪互相关峰值而导致较大的测量误差。从逐个最小二乘估计的角度来看，这些误差效应在某些情况下会导致数百米的位置解误差。在某些情况下，使用具有“重”约束条件的卡尔曼滤波器可提供更好的结果，但在其他情况下可能会导致重大偏差和过冲效应。为了提高性能，本文研究了使用中级IMU和地图匹配技术增强高灵敏度GPS接收机的性能。如果不是全部，则大多数用于车辆导航的GPS / INS集成领域中的最新工作都是针对将车辆从空旷地区驶入市区的情况，从而在车辆进入地面之前进行精确的GPS初始化的情况。城市峡谷。这项研究的重点是在恶劣的市区GPS环境中初始化导航系统并在行驶时进行校准的问题。对集成系统的测试是在市中心的建筑物中进行的，该建筑物的楼层为10到70层，掩膜角度最大为80度。结果表明，使用HS GPS接收器可以在城市峡谷中行驶时初始化IMU，并且通过添加地图匹配技术，可以可靠地匹配车辆当前所在的街道。

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