利用多普勒雷达和MEMS陀螺仪增强DGPS用于陆地车辆导航

2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC) Pub Date : 2009-07-08 DOI:10.1109/CCA.2009.5281057

J. Parviainen, Manuel A. Vazquez Lopez, O. Pekkalin, J. Hautamäki, J. Collin, P. Davidson

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引用次数: 14

摘要

本文介绍了一种提供精确和不间断定位的陆地车辆导航系统的开发。地面速度多普勒雷达和一个MEMS陀螺仪用于增强差分GPS (DGPS)，并在DGPS中断时提供精确导航。与轮式编码器相比，多普勒雷达具有安装方便、维护成本低的优点。当DGPS可用时，对多普勒雷达和陀螺仪进行校准。松耦合卡尔曼滤波给出了最优调谐的导航解。进行了现场测试，以评估该系统的性能。结果表明，在DGPS中断15秒的情况下，定位精度可达到1.5 m。

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Using Doppler radar and MEMS gyro to augment DGPS for land vehicle navigation

This paper presents the development of a land vehicle navigation system that provides accurate and uninterrupted positioning. Ground speed Doppler radar and one MEMS gyroscope are used to augment differential GPS (DGPS) and provide accurate navigation during DGPS outages. Using Doppler radar has advantages of easy assembling and lowcost maintenance compared to wheel encoders. The Doppler radar and gyro are calibrated when DGPS is available. Loosely coupled Kalman filter gives optimally tuned navigation solution. Field tests were carried out to evaluate the performance of the system. The results show that position accuracy of 1.5 meters can be achieved during 15 seconds DGPS outages.

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2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)

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