双目视觉辅助GNSS在恶劣环境下导航定位

冯祎; 涂锐; 韩军强; 侯福荣; 洪菊; 刘金海; 王星星

doi:DOI:10.13442/j.gnss.1008-9268.2020.03.010

双目视觉辅助GNSS在恶劣环境下导航定位

doi: DOI:10.13442/j.gnss.1008-9268.2020.03.010

冯祎^1,2,,
涂锐^1,2,3,
韩军强^1,2,
侯福荣^1,2,
洪菊^1,2,
刘金海^1,2,
王星星^1,2

1.
中国科学院国家授时中心,陕西西安 710600
2.
中国科学院大学,北京 100049
3.
中国科学院精密导航定位与定时技术重点实验室,陕西西安 710600

详细信息

作者简介:
冯祎 (1996—),男,硕士研究生,研究方向为视觉GNSS组合导航技术.

通信作者:
冯祎 E-mail:fengyi20202020@163.com

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出版历程
- 刊出日期: 2020-06-15

Stereo vision-aided GNSS navigation and positioning in harsh environments

FENG Yi^{1,2
,},
TU Rui^1,2,3,
HAN Junqiang^1,2,
HOU Furong^1,2,
HONG Ju^1,2,
LIU Jinhai^1,2,
WANG Xingxing^1,2

1.
Nation Time Service Center, Chinese Academy of Sciences, Xi′an 710600,China
2.
University of Chinese Academy of Sciences, Beijing 100049,China
3.
Key Laboratory of Precision Navigation and Timing Technology, Chinese Academy of Sciences, Xi′an 710600,China

摘要

摘要: 视觉里程计能够在复杂环境下提供短时间的高精度导航定位,全球卫星导航系统（GNSS）具有全天候、全球性和误差不随时间积累的特性,但是在恶劣环境多路径效应下,GNSS定位精度会变差甚至不可用. 为了研究在复杂环境下视觉里程计辅助GNSS导航定位技术,首先介绍了视觉里程计的导航定位原理;然后在卡尔曼滤波器中将GNSS定位结果和视觉里程计定位结果进行了松组合处理;并利用视觉里程计定位结果和预测的视觉里程计误差实现了GNSS在恶劣环境下的导航定位. 基于KITTI数据集的模拟验证结果表明,设计的组合方案能够在恶劣环境下持续提供可靠的导航定位.
- 视觉里程计 /
- 全球卫星导航系统 /
- 卡尔曼滤波 /
- 松组合 /
- 恶劣环境
Abstract: The visual odometer can provide short-term and precise navigation and positioning in complex environments. GNSS has the characteristics of all-weather. global and no accumulate error over time. But under the multipath effect of harsh environments, GNSS positioning accuracy will be worse or even unusable. In order to study the visual odometer-aided GNSS navigation and positioning technology in complex environments, the navigation positioning principle of the visual odometer is introduced firstly; then the GNSS positioning results and the visual odometer positioning results are loosely combined in a Kalman filter; utilizing the visual odometer positioning results and the predicted visual odometer positioning errors to achieve GNSS navigation positioning in harsh environments. The simulation verification results based on the KITTI data set show that the designed combined scheme can continuously provide reliable navigation and positioning in harsh environments.
- visual odometer /
- Global Navigation Satellite System /
- Kalman filter /
- loose combination /
- harsh environments

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参考文献(12)

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