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首页> 外文会议>Saint Petersburg International Conference on Integrated Navigation Systems; 20060529-31; Saint Petersburg(RU) >APPLICATION OF THE NAVIGATION ON THE VEHICLE WITH INERTIAL SENSORS
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APPLICATION OF THE NAVIGATION ON THE VEHICLE WITH INERTIAL SENSORS

机译：导航在带有惯性传感器的车辆上的应用

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Global Positioning Systems (GPS) have been widely used in vehicle navigating and positioning applications. A GPS can provide position information regardless place and time. However, the GPS signal may be lost because of the shielding of the surrounding blockages in urban environments. Therefore, this paper proposes a solution of combining the GPS receiver with the inertial sensors-odometer and gyro. The inertial devices can provide the position and heading of the vehicle during the GPS signal shielded by surrounding buildings. The Inertial Navigation System (INS) is an autonomous system that uses inertia sensors such as accelerometers, odometer and gyroscopes to measure the acceleration, velocity and angular velocities of the vehicle. In this paper, a novel navigation algorithm which can perform and predict the location and heading of the vehicle is proposed. In general, the vehicle uses the GPS receiver to obtain the position and heading as the main navigator, the inertial sensors are just as a standby navigation system at this time. When the GPS signal is shielded due to the high buildings, trees, or a tunnel, the navigation system mode will be changed to use the inertial sensors for the vehicle navigation. The odometer and gyroscope will take over the function of navigation. There is a learning software architecture which is designed to detect the wheel's range of each cycle and measurement the bias of gyro to estimate the position and direction for any vehicles as an initial condition value. The odometer inertia device detects the component of the speed and distance of the vehicle, and the gyro inertia sensor detects the component of the direction of the vehicle. The inertial sensors can provide a high precision navigation information within a short time. But their errors are accumulated with the time growth, which results in the accuracy of navigation system decay. This will be corrected by using electronic mapping to maintain a high precision. A novel navigation algorithm uses the least squares method and extended kalman filter approach to calculate and/or estimate the position and heading of the vehicle with the odometer and gyro and correct their accumulative error in order to achieve a precision of the navigation system. When the system calculates the present position with the odometer and gyro, then it tries to look for the position that is most close to on the electronic map as the present position of the vehicle. Finally, this kind of merger structure is applied to the vehicle to navigate, the aim being to maintain the vehicle on a high precision navigation information continuously either under the general condition or in case of the GPS signal shielded to achieve navigating mission of the vehicle.
机译：全球定位系统（GPS）已被广泛用于车辆导航和定位应用中。 GPS可以提供​​位置和时间信息。但是，由于屏蔽了城市环境中的周围障碍物，GPS信号可能会丢失。因此，本文提出了将GPS接收器与惯性传感器-里程表和陀螺仪相结合的解决方案。惯性设备可以在周围建筑物屏蔽的GPS信号期间提供车辆的位置和前进方向。惯性导航系统（INS）是一个自治系统，它使用惯性传感器（例如加速度计，里程表和陀螺仪）来测量车辆的加速度，速度和角速度。本文提出了一种新颖的导航算法，可以执行和预测车辆的位置和航向。通常，车辆使用GPS接收器作为主要导航器来获取位置和航向，而惯性传感器此时仅作为备用导航系统。当GPS信号由于高高的建筑物，树木或隧道而被屏蔽时，导航系统模式将更改为使用惯性传感器进行车辆导航。里程表和陀螺仪将接管导航功能。有一个学习软件体系结构，旨在检测每个周期的车轮范围并测量陀螺仪的偏向度，以将任何车辆的位置和方向估计为初始条件值。里程表惯性装置检测车辆速度和距离的分量，而陀螺惯性传感器检测车辆方向的分量。惯性传感器可以在短时间内提供高精度的导航信息。但是它们的误差随着时间的增长而累积，从而导致导航系统的精度下降。这将通过使用电子地图进行校正以保持高精度。一种新颖的导航算法使用最小二乘法和扩展卡尔曼滤波方法来计算和/或估计里程计和陀螺仪对车辆的位置和航向，并校正其累积误差，以实现导航系统的精度。当系统使用里程表和陀螺仪计算当前位置时，它将尝试查找电子地图上最接近的位置作为车辆的当前位置。最后，将这种合并结构应用于车辆导航，目的是在一般情况下或在屏蔽GPS信号以实现车辆导航任务的情况下，连续地将车辆保持在高精度导航信息上。

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