一种自主式车载组合导航系统的可观测性研究

摘要

In order to solve the problem that the GPS signals are easily disturbed, a new autonomous vehicle navi-gation system based on the combination of SINS/OD/electronic map was designed in this paper. Using the position in-formation from electronic map and the velocity information from OD, the Kalman filter was designed. On the base of the Piece-Wise Constant System (PWCS) model, the method of singular value decomposition was used to analyzing the system' s observability and observability under the three different conditions of stationary, uniform and turning mo-bile is researched. And some practical conclusions were acquired. Simulation result demonstrates that the analysis of the system's observability is effective, and the conclusions from the research can provide theoretical basis for the se-lection of the best mobile solution during navigation.%为了解决SINS/GPS组合导航系统信号易受干扰和导航精度爱影响的问题,设计了一种SINS/OD/电子地图组合的自主式车载导航系统.利用电子地图提供的位置信息和里程仪提供的速度信息,设计kalman滤波器;并在分段式定常系统模型(PWCS)的基础上,采用奇异值分解法对系统的可观测性进行了分析,研究了系统在静止、匀速和转弯三种不同机动条件下的可观测性,得出一些具有实用价值的结论.仿真结果表明:对系统的可观测性分析结果有效,提高了组合导航系统的精度,并为载体在导航中最佳机动方案的选择提供了理论依据.