Research On High Precision Inertial Positioning Orientation/Map-Matching Navigation Technology

Classic land-use positioning and navigation technologies,such as inertial navigation and combined inertial and mileage information,landmark information,zero-speed parking information and satellite information,have their own technical defects when they meet the operational requirements of maneuvering,fast and autonomous navigation and positioning in a long and wide range of work.In order to break through the traditional land use navigation field technical solution,in this paper,the high precision inertial positioning directional map matching navigation technology research,proposed USES the map matching aided inertial positioning directional system,improving the long-endurance radius independent positioning precision of the cases,to enhance the capacity and fast independent accurate security requirements and cost is of great significance.The main research contents of this paper include:1.According to the resource and performance characteristics of the embedded platform for military localization,and the data structure of the digital vector map network,an autonomous and controllable spatial index method,hilbert-r tree index method based on spatial grid,is proposed for the embedded navigation computer.It solves the problem of relying on the secondary development platform of foreign software,and realizes the fast index of massive digital vector map.It is proved that the index efficiency of this index method is more than 80% higher than that of the common traversal search method.2.According to the characteristics of digital map network structure and the difficulties of map matching,a "line to line" map matching method based on the theory of computational geometry is proposed.The path matching based on orientation information is realized,which effectively solves the technical problem that the error of road longitudinal matching can not be effectively suppressed,and has high accuracy and robustness.3.By analyzing the layout of inertial navigation mechanics and error principle,an autonomous and controllable integrated navigation scheme of inertial / odometer / map matching is proposed.An accurate error model is established,information fusion is carried out by using filtering technology,and the autonomous positioning accuracy of inertial positioning and orientation system is improved by using map matching navigation results.It is verified that the location error can be controlled within 45 m by using map matching information to modify the inertial positioning and orientation system under the condition of long voyage time and large battle radius.4.In view of the limited hardware resources and computing capacity of the embedded system,a software and hardware platform based on the embedded system is proposed.The design of hardware system and software architecture has been completed.It has the functions of map dynamic block loading,road retrieval,matching solution,inertial positioning and orientation / map information matching fusion and non road driving identification in the effective resources.It is the first time to realize the engineering application of inertial positioning and orientation /map-matching navigation technology in the inertial positioning and orientation system.