基于惯导信息的地图匹配算法

摘要

为抑制惯性导航系统(inertial navigation system, INS)导航误差发散,提出了一种基于INS信息的地图匹配方法.该方法根据INS输出位置信息的特点,引入了"平移向量"的概念,并利用一种改进的投影匹配法对平移向量进行修正.跑车实验结果表明,与传统地图匹配算法相比,本文所提出的惯导/地图匹配算法充分利用了INS的信息,具有匹配效率高、匹配精度高等优点,为基于地图匹配信息进行INS的误差校正奠定了基础.%To suppress the divergence of navigation error, a new map-matching algorithm was presented based on the position information of an inertial navigation system (INS).The algorithm proposed the concept of translation vector according to the characteristics of the information of INS.An improved projection method was presented to correct the translation vector.Experimental results of a car moving in real time show that the map-matching algorithm based on INS maximizes the information of INS and is more efficient and precise than the traditional map-matching algorithm.Thus, our findings serve as a foundation for error correction of INS based on map-matching information.