摘要
惯性导航系统(inertial navigation system,INS)可以与GNSS形成互补,但INS存在累积误差的问题,且GNSS位置噪声大小未知。为了提高导航定位的精度,提出一种基于质量评价函数的自适应GNSS/INS组合定位算法。选择几何精度衰减因子(geometric dilution of precision,GDOP)、平均信噪比、可见卫星数、平均卫星仰角和多径效应5个指标,采用变异系数定权法进行指标加权,计算出综合的GNSS质量评价指标。基于该指标,通过自适应卡尔曼滤波对量测噪声阵进行调节,从而提高定位精度。实验结果表明,所提出的方法在复杂城市环境下的GNSS/INS松组合定位中,水平方向和垂直方向的定位精度分别提升了41.20%和31.90%。
Inertial navigation system(INS)can complement GNSS,but INS suffers from the problem of cumulative error and the magnitude of GNSS position noise is unknown.In order to improve the accuracy of navigation and localization,we proposed an adaptive GNSS/INS combination localization method based on quality evaluation function.In this paper,we selected five indicators,namely geometric dilution of precision(GDOP),average signal-to-noise ratio,number of visible satellites,average satellite elevation angle and multipath effect,used the coefficient of variation weighting method to carry out the weighting of indicators,and computed the comprehensive GNSS quality evaluation index.Based on this index,we adjusted the measurement noise array by adaptive Kalman filtering,to improve the localization accuracy.The experimental result shows that the proposed method improves the horizontal and vertical positioning accuracy by 41.20%and 31.90%,respectively,in the GNSS/INS loose combination positioning in complex urban environment.
作者
王长栓
鲍烨青
李伟
WANG Changshuan;BAO Yeqing;LI Wei(Geographic Information Surveying and Mapping Institute of Guangxi Zhuang Autonomous Region,Liuzhou 545006,China;Central Southern Electric Power Design Institute Co.,Ltd.of CPECC,Wuhan 430071,China;Guangxi Kezhixin Science and Technology Co.,Ltd.,Nanning 530007,China)
出处
《地理空间信息》
2025年第6期109-112,120,共5页
Geospatial Information
基金
中央引导地方科技发展资金专项资助项目(2022SRZ0101)。
关键词
GNSS质量评价函数
松组合算法
自适应卡尔曼滤波
变异系数定权法
GNSS quality evaluation function
loose combination algorithm
adaptive Kalman filtering
coefficient of variation weighting method
