哈尔滨工程大学学报2023，Vol.55Issue(10)：1712-1719,8.DOI:10.11990/jheu.202207060
GNSS拒止环境下的手机车载定位研究
Vehicle positioning based on smartphones in a GNSS-denial environment
摘要
Abstract
In response to the issue of smartphone-based vehicle positioning in scenarios where satellite positioning fails,this paper investigates a positioning solution using non-holonomic constraints(NHC)and magnetic heading-aided inertial navigation.Based on smartphones sensors,the effects of compensating the IMU mounting angle and NHC lever arm,online estimation of the IMU mounting angle and NHC lever arm,and magnetic heading correction on the positioning accuracy without GNSS are compared.Field tests are conducted in two typical underground parking scenarios:multi-turn and long-straight.The experimental results reveal that:Multi-turn trajectories favor the performance of NHC compared to long-straight trajectories.In multi-turn scenarios,the scheme involving online estimation of IMU mounting angles and NHC lever arm yields the best positioning accuracy.The relative measurement error of terminal horizontal positon error is only 1.66%in the case of a 500 m GNSS signal outage.In long-straight scenario,the scheme with magnetic heading correction provide the highest positioning accuracy.The relative measurement error of terminal horizontal position is 10.56%in the case of an 800 m GNSS signal interruption.关键词
全球卫星导航系统中断/微机电系统惯性测量单元/智能手机/车辆定位/磁力计/非完整性约束/手机安装角/非完整性约束杆臂Key words
GNSS interruption/MEMS-IMU/smartphones/vehicle positioning/magnetometers/non-holomomic constraints/IMU misalignment angle/NHC lever arm分类
交通工程引用本文复制引用
丁龙阳,旷俭,陈起金,牛小骥..GNSS拒止环境下的手机车载定位研究[J].哈尔滨工程大学学报,2023,55(10):1712-1719,8.基金项目
国家自然科学基金(51778591) （51778591）
