Research On Technology And Method Of Vector Road Data Aided Inertial Navigation

It would be unavailable to the navigation based on the satellite under the passive environment of war or other unconventional conditions,so the error of INS would be still remain.The research has been made on the basic technology and method of vector road data aided inertial navigation system(AINS).The high accuracy vector road data based on GPS-RTK would be preprocessed and constructed into the data model,which will match with the inertial navigation trajectory data.The matching error could be used as the observation error,which could effectively correct the inertial the navigation error by establishing the error model.The paper provides the reliable theoretical basis and technical support for precise navigation and positioning under the passive environment.The main work and innovation of this paper are summarized as follows:(1)The overall framework of AINS localization method based on vector road data has been built,and the basic principle of the aided navigation was introduced.The output parameters of the inertial navigation system and the associated error equation are confirmed.And the acquisition principle and data model of vector road for AINS are introduced.The matching algorithms and error correction model of vector road for AINS were introduced and analyzed at last.(2)Based on the basic idea of "divide and manage",the Topology & Tracing,Match,Property(TMP)vector road data model based on functional layer was put forward,which has the function of the three layers and could improve the efficiency of matching and correction in the future.The model has a flexible and orderly hierarchy,rich road information,clear and concise topology.According to the three different levels of functionality,the links and nodes of geographic spatial information and attribute information and the road network topology vector were orderly divided,which would be connected by the node ID.It can make use of all kinds of data flexibly to facilitate the processing and query of data information,and improve the overall efficiency of the system.It provides a more accurate and simple decision for the trajectory tracking and path planning of inertial navigation points,and reduces the probability of false matching.(3)The feature extraction algorithm is designed,which is based on the change trend of the heading angle and can quickly and accurately get rid of useless features.Firstly,the trend set to confirm and the trend set to pend are set up,and the state of the trend set could be determined by calculating the trend of the trajectory point.Further,the effective trend would be obtained by judging the states of the 2 trends.Finally,the constraint conditions of the feature of the trend are applied to finish the feature extraction of the trend.Experimental results show that the proposed algorithm is superior to the traditional method of curve fitting in efficiency.The interference features due to special circumstances are ruled out effectively.The proposed algorithm is not only simple and feasible,but also has high efficiency,meeting the application requirements of integrated navigation.(4)The matching algorithm of topology tracing and rough/fine are designed,realizing the position error correction in both real-time and high-precision.A new error correction model based on the match error could be constructed,solving the problem that internal parameters errors would be always neglected.The topological tracing matching algorithm,which uses topological information of road data,can effectively solve the problem of the mismatching during the intersections.According to the different states,the vector road data and vehicle trajectory could be matching in different ways,satisfying the neccessary in on autonomy and anti-interference under the passive environment.Secondly,the correction method based on the match information and error model is proposed up.With constructing combination systemthe error model and new concept of measurement,the error would be estimated and corrected by using the Calman filter.Compared to the traditional correction method,this correction method not only uses the geometrical and topological relations between the road and inertial navigation trajectory,but also corrects the inertial navigation system error by the correction model.(5)Based on the above research,the experimental system of navigation and location correction based on vector road data has been built.The design of system architecture and the operating environment of the system are constructed.In order to verify the science and effectiveness of the application of vector road data aided navigation and positioning,the main function modules are displayed one by one.