CN111721290A - Multi-source sensor information fusion positioning switching method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Abstract
The invention discloses a fusion positioning switching method of a multi-source sensor, which comprises the following steps: acquiring initial pose information by using a GNSS receiver; when the GNSS satellite signals cannot be used, the SINS/odometer fusion navigation is utilized, and the SINS/odometer fusion navigation result is corrected by utilizing a dynamic error model of the integrated navigation system; and after the GNSS satellite signal is recovered, pre-switching the fused navigation output to GNSS/SINS loose coupling output, performing weighted average on the GNSS satellite signal output and the loose coupling output to obtain a fused positioning result, and reducing a loose coupling output weight according to a set value until the GNSS satellite signal output is completely switched. The invention can avoid effectively utilizing the fusion information of the multisource sensor, avoid jumping in the switching process and ensure the stable transition of the fusion positioning output in different scenes.
Description
Technical Field
The invention belongs to the field of information fusion and positioning of multi-source sensors, and particularly relates to a multi-source sensor fusion and positioning switching method.
Background
At present, a satellite navigation positioning system is widely applied to the field of outdoor positioning, but there are some areas which cannot receive enough satellite ephemeris data for positioning under the influence of buildings, trees and terrain. When the moving body moves into this area, it needs to be supplemented with a non-satellite navigation system, such as an inertial navigation system. When the moving body enters a satellite signal-free area from a satellite signal good area, the navigation positioning signal needs to be switched from a satellite navigation system to a non-satellite navigation system; when the moving body enters a satellite signal good area from a non-satellite navigation area, the navigation positioning signal needs to be switched from a non-satellite navigation system to a satellite navigation system. Conventional handover methods employ hard handover techniques. Since the non-satellite navigation technology is usually based on integration, there is an accumulated error, when switching from the satellite navigation system to the non-satellite navigation system, the satellite navigation system outputs the initial value of the non-satellite navigation system for the last time, so there is no sudden change of the position signal, but when switching from the non-satellite navigation system to the satellite navigation system, because there is an accumulated error and the output of the satellite navigation system is not dependent on the output of the non-satellite navigation system, there is a sudden change of the position signal at this time, which will adversely affect the control system using the position signal as the feedback signal, so that the control performance is deteriorated.
Disclosure of Invention
The invention aims to provide a multi-source sensor fusion positioning switching method which can effectively utilize multi-sensor measurement information to reduce multi-sensor information switching errors.
The technical solution for realizing the purpose of the invention is as follows: a multi-source sensor fusion positioning switching method comprises the following steps:
acquiring initial pose information by using a GNSS receiver;
when the GNSS satellite signals cannot be used, the SINS/odometer fusion navigation is utilized, and the SINS/odometer fusion navigation result is corrected by utilizing a dynamic error model of the integrated navigation system;
and after the GNSS satellite signal is recovered, pre-switching the fused navigation output to GNSS/SINS loose coupling output, performing weighted average on the GNSS satellite signal output and the loose coupling output to obtain a fused positioning result, and reducing a loose coupling output weight according to a set value until the GNSS satellite signal output is completely switched.
Preferably, the specific process of correcting the SINS/odometer fusion navigation result by using the combined navigation system dynamic error model is as follows:
establishing an SINS dynamic error model, specifically:
wherein the content of the first and second substances,
XINSrepresenting the state vector of the dynamic error model of the inertial navigation system, P representing the position error, VnThe speed error is indicated in the form of a speed error,
the angle of misalignment is indicated and is,gthe zero-offset error of the gyro is represented,
representing the accelerometer zero offset error, FINSRepresenting a strapdown inertial navigation dynamic error matrix, WINSRepresenting system noise of a strapdown inertial navigation dynamic error model;
establishing a dynamic error model of the odometer, which specifically comprises the following steps:
wherein, XOD＝[α β τ]T，XODIn the presentationThe state vector of the dynamic error model of the odometer, α represents the error of the course installation included angle, β represents the error of the pitch installation included angle, tau represents the error of the scale factor of the odometer, WODSystem noise representing an odometer dynamic error model; fODRepresenting an odometer dynamic error matrix;
synthesizing the dynamic error model of the inertial navigation system and the dynamic error model of the odometer to form the following dynamic error model of the integrated navigation system:
wherein the content of the first and second substances,
03×15、015×3represents a zero matrix;
correcting the output position of the SINS/odometer by adopting a dynamic error model of the integrated navigation system, and outputting the position of the SINS at the K moment by using an error estimation result
Speed output
And attitude matrix output CkCorrecting and simultaneously zero-biasing the gyroscopegAccelerometer zero offset
The heading mount angle α, pitch mount angle β, and odometer scale factor τ are updated.
Preferably, the specific method for obtaining the GNSS/SINS loose coupling output includes:
according to the GNSS measurement covariance information, a GNSS state equation and a measurement equation are established;
and resolving a loose coupling measurement equation according to the position and speed error measurement equations respectively measured and calculated by the GNSS and the SINS to obtain loose coupling output.
Preferably, the specific process of solving the loosely-coupled measurement equation according to the measurement equation of the position and the velocity obtained by the GNSS and the SINS respectively comprises:
the real position of the carrier is (x, y, z) and the speed is (v)x,vy,vz) The position and the speed obtained by SINS are respectively (x)1,y1,z1) The GNSS-derived position and velocity are (x) respectivelyG,yG,zG)、(vxG,vyG,vzG) Wherein:
the position obtained by SINS calculation is specifically as follows:
in the formula, x1、y1、z1Respectively outputting position errors of the strapdown inertial navigation system and position errors of x, y and z along three axes of a geographic coordinate system;
the GNSS-derived position is specifically:
in the formula, xG、yG、zGRespectively, the GNSS system output position, nx、ny、nzRespectively the position error noise of the receiver along three axes of a geographic coordinate system;
the position error equation is obtained as follows:
converting the position error into a geodetic coordinate system to obtain a measurement equation of the position error as follows:
wherein the content of the first and second substances,
Vp＝[-nx,-ny,-nz]Tr is the equator radius of the earth, and L is the geographical latitude;
obtaining a speed measurement equation:
in the formula nvx、nvy、nvzRespectively velocity error noise, v, of the receiver along the axis of the geographical coordinate systemx、vy、vzRespectively the velocity of the receiver along the axis of the geographical coordinate system.
Hv＝[O3×3I3O3×9],Vv＝[-nvx-nvy-nvz]。
Combining the position measurement equation and the speed measurement equation to obtain a loose coupling measurement equation as follows:
preferably, the fusion localization result is specifically:
P＝wPA+(1-w)PB
in the formula, PAIs GNSS/SINS loose coupling output; pBAnd w is the weight of the GNSS/SINS loose coupling output.
Compared with the prior art, the invention has the remarkable advantages that: according to the invention, the SINS/GNSS loose coupling mode is pre-switched before the GNSS output is switched, and a soft switching algorithm is adopted, so that jump generated during system switching is avoided, and smooth transition of positioning output is ensured.
Drawings
Fig. 1 is a schematic diagram of the principle of the present invention.
FIG. 2 is a schematic diagram of the SINS/odometer fusion positioning principle of the present invention.
FIG. 3 is a schematic diagram of the SINS/GNSS loose coupling principle of the present invention.
FIG. 4 is a schematic flow diagram of the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
A multi-source sensor fusion positioning switching method comprises the following steps:
whether the GNSS satellite signal meets the positioning condition is judged through the GNSS receiver, which specifically comprises the following steps:
according to the NMEA 0183 protocol, the GNSS receiver state frame GPGSV reflects satellite state information, and GNSS satellite data are unavailable when the number of receivable satellites is judged to be less than 4 according to the frame information.
When the number of receivable satellites is larger than or equal to 4, GNSS satellite data acquire initial pose information;
when the GNSS satellite signal can not be used, the SINS/odometer fusion navigation is utilized, an SINS/odometer error model is established, and the navigation result is corrected, specifically as follows:
establishing an SINS dynamic error model which is a phi angle error equation and comprises a position error, a speed error, a misalignment angle and an inertial device drift error;
establishing a dynamic error model of the odometer, wherein the model comprises an installation included angle error (course/pitching installation included angle error) and a scale factor error;
estimating and correcting errors of the SINS/odometer, calculating an estimated value, a prediction variance, an estimated variance and a filter gain of a state vector of the combined positioning system, comparing position output, speed output and attitude matrix output of the SINS system by using an error estimation result, and updating zero offset, an installation included angle and a scale factor of the gyroscope.
After GNSS signals are recovered, performing work such as GNSS/SINS loose coupling mode initialization, filtering convergence, trend prediction and the like, pre-switching SINS/odometer fused navigation output to GNSS/SINS loose coupling output by using a soft switching algorithm, performing weighted average on the GNSS output and the loose coupling output through soft switching, and ensuring smooth transition of positioning output until the GNSS satellite signals are completely switched to be output, wherein the work is as follows:
according to the GNSS measurement covariance information, a GNSS state equation and a measurement equation are established, an error state is selected, and an SINS platform/speed/position error equation is established;
and respectively measuring and calculating by the GNSS and the SINS to obtain a position and speed error measurement equation, and calculating a loose coupling measurement equation according to the position and speed error measurement equation and the speed error measurement equation.
By using a soft switching algorithm, under the condition of keeping the original SINS/odometer fused navigation output, the weight of the original output is gradually reduced by weighted average of the output results of the fused navigation and the loose coupling navigation, and the original output is switched to the GNSS/SINS loose coupling output in advance, so that jumping in the switching process is avoided, and smooth transition of positioning output is ensured until the positioning output is completely switched to the GNSS satellite signal output.
Example 1
As shown in fig. 1, the GNSS receiver calculates the time difference by using ephemeris data and pseudorange estimation using the principle of least squares to obtain a positioning output. When the GNSS signal is unavailable due to building shielding and the like, the positioning system is switched to an SINS/odometer combined positioning mode, the GNSS output at the previous moment is in an initial state to carry out SINS initial alignment, an initial coordinate reference and an initial attitude matrix f and omega are determined, dead reckoning is carried out according to the speed information of the odometer and the real-time attitude matrix f and omega output by the SINS, the SINS is used for resolving P, V and A and dead reckoning information as measurement to carry out filtering, an optimal estimated value is obtained through calculation, and finally real-time error correction is carried out by utilizing the system error estimated value to obtain the output of the whole positioning system. When the GNSS signal is gradually recovered, the operations of initializing a GNSS/SINS loose coupling mode, filtering convergence, trend prediction and the like are carried out under the condition of keeping the original output, the soft switching algorithm is utilized to ensure that the SINS error is continuously corrected and is switched to the loose coupling positioning output in advance, then the GNSS output and the loose coupling output are weighted and averaged, and the weight of the original output is gradually reduced until the GNSS output is completely switched.
The SINS/odometer fusion positioning structure in fig. 1 is specifically shown in fig. 2, the input of the filter is the velocity output by the odometer and the velocity and acceleration constraint conditions of inertial navigation solution, the output is the SINS state estimation error, the state model comprises a SINS velocity error model, a position error model, an attitude error model and an error model of the odometer, the optimal estimation error is used for realizing the correction of the inertial navigation subsystem, and the corrected carrier velocity and pose information is output.
The SINS/GNSS loose-coupling structure in fig. 1 is specifically shown in fig. 3, the SINS and the GPS are structurally two separate navigation systems, more accurate GNSS measurement covariance information is required, and the position and velocity observed quantities obtained by GNSS measurement are used in a filter of the SINS.
As shown in fig. 4, a method for switching fusion positioning of a multi-source sensor includes the following steps:
the GNSS satellite signal is judged whether to meet the positioning condition or not through the GNSS receiver, the state frame GPGSV of the GNSS receiver reflects the satellite state information according to the NMEA 0183 protocol, and the GNSS satellite data is unavailable when the number of receivable satellites is judged to be less than 4 through the frame information.
When the signal is good, GNSS satellite data is acquiescently used to obtain initial pose information, a pseudo-range observation and error equation is established, time difference is calculated through ephemeris data and pseudo-range, and positioning output is obtained through resolving by using the least square principle.
When the GNSS satellite signal can not be used, the SINS/odometer fusion navigation is utilized, an SINS/odometer error model is established, and the fusion navigation output is corrected, specifically:
establishing a SINS dynamic error model, wherein the model is expressed as follows:
wherein the content of the first and second substances,
XINSthe state vector representing the dynamic error model of inertial navigation system is composed of position error P and speed error VnAngle of misalignment
Zero offset error of gyrogAnd accelerometer zero offset error
Composition is carried out;
establishing a dynamic error model of the odometer, wherein the model is expressed as follows:
wherein, XOD＝[α β τ]T，XODThe state vector representing the dynamic error model of the odometer consists of course installation included angle error α, pitch installation included angle error β and odometer scale factor error tau, WODSystem noise representing an odometer dynamic error model; fODRepresenting an odometer dynamic error matrix.
Synthesizing the dynamic error model of the inertial navigation system and the dynamic error model of the odometer to form the following dynamic error model of the integrated navigation system:
wherein the content of the first and second substances,
03×15、015×3representing a zero matrix.
Estimating and correcting SINS/odometer error by using a dynamic error model of the integrated navigation system, and outputting the position of a Strapdown Inertial Navigation System (SINS) at the K moment by using an error estimation result
Speed output
And attitude matrix output CkCorrecting and simultaneously zero-biasing the gyroscopegAccelerometer zero offset
The heading mount angle α, pitch mount angle β, and odometer scale factor τ are updated.
After the GNSS signal is recovered, pre-switching is carried out, and work such as GNSS/SINS loose coupling mode initialization, filtering convergence, trend prediction and the like is carried out, specifically:
according to the GNSS measurement covariance information, a GNSS state equation and a measurement equation are established, wherein the state equation and the measurement equation are as follows:
Z1＝H1X1+V1
in the formula, W1As system noise, G1For noise allocation matrix, F1Is a state transition matrix, X1Is a system state vector, H1Observe the matrix, V, for the system1To observe the noise.
Step 4.2, resolving a loose coupling measurement equation:
let the real position of the carrier be (x, y, z) and the velocity be (v)x,vy,vz) The position and the speed obtained by SINS are respectively (x)1,y1,z1) The GNSS-derived position and velocity are (x) respectivelyG,yG,zG)、(vxG,vyG,vzG)。
The location of the SINS solution may be expressed as
In the formula, x1、y1、z1The noise of the position errors of the output position of the strapdown inertial navigation system and the position errors of the x, the y and the z along three axes of a geographic coordinate system are respectively.
The GNSS derived position may be represented as
In the formula, xG、yG、zGRespectively, the GNSS system output position, nx、ny、nzRespectively, the position error noise of the receiver along the three axes of the geographical coordinate system.
The position error equation can be found as follows:
converting the position error into a geodetic coordinate system to obtain a measurement equation of the position error:
wherein
Vp＝[-nx,-ny,-nz]T。
Similarly, a velocity measurement equation can be obtained:
in the formula nvx、nvy、nvzRespectively velocity error noise of the receiver along the axis of the geographical coordinate system,
Hv＝[O3×3I3O3×9],Vv＝[-nvx-nvy-nvz]。
combining the position measurement equation and the speed measurement equation to obtain a loose coupling measurement equation as follows:
the positioning results of two systems can be obtained at the same time when the navigation system enters a switching area, but the selection of any one of the positioning results can cause the waste of information quantity carried by the other positioning system and the jump of output, the information of the two positioning systems can be effectively utilized by adopting a soft switching algorithm and the smooth transition of the positioning output is ensured, and the fused navigation output is pre-cut firstlyAnd switching to GNSS/SINS loose coupling output, and performing weighted average on the GNSS output and the GNSS/SINS loose coupling output to perform fusion of positioning results of the two systems. The GNSS/SINS loosely coupled output is given a weight w, the GNSS output is given a weight 1-w, and the fusion result P can be expressed as P ═ wPA+(1-w)PB
In the formula PA-GNSS/SINS loosely coupled output; pB-the output of a GNSS.
And gradually reducing the weight value of the original output until the GNSS satellite signal output is completely switched.
Claims (6)
1. A multi-source sensor fusion positioning switching method is characterized by comprising the following steps:
acquiring initial pose information by using a GNSS receiver;
when the GNSS satellite signals cannot be used, the SINS/odometer fusion navigation is utilized, and the SINS/odometer fusion navigation result is corrected by utilizing a dynamic error model of the integrated navigation system;
and after the GNSS satellite signal is recovered, pre-switching the fused navigation output to GNSS/SINS loose coupling output, performing weighted average on the GNSS satellite signal output and the loose coupling output to obtain a fused positioning result, and reducing a loose coupling output weight according to a set value until the GNSS satellite signal output is completely switched.
2. The multi-source sensor fusion positioning switching method according to claim 1, wherein the specific process of correcting the SINS/odometer fusion navigation result by using the combined navigation system dynamic error model comprises:
establishing an SINS dynamic error model, specifically:
wherein the content of the first and second substances,
XINSto representState vector of dynamic error model of inertial navigation system, P represents position error, VnThe speed error is indicated in the form of a speed error,
the angle of misalignment is indicated and is,gthe zero-offset error of the gyro is represented,
representing the accelerometer zero offset error, FINSRepresenting a strapdown inertial navigation dynamic error matrix, WINSRepresenting system noise of a strapdown inertial navigation dynamic error model;
establishing a dynamic error model of the odometer, which specifically comprises the following steps:
wherein, XOD＝[α β τ]T，XODRepresenting the state vector of the dynamic error model of the odometer, α representing the error of the course installation included angle, β representing the error of the pitch installation included angle, tau representing the error of the scale factor of the odometer, WODSystem noise representing an odometer dynamic error model; fODRepresenting an odometer dynamic error matrix;
synthesizing the dynamic error model of the inertial navigation system and the dynamic error model of the odometer to form the following dynamic error model of the integrated navigation system:
wherein the content of the first and second substances,
03×15、015×3represents a zero matrix;
correcting the output position of the SINS/odometer by adopting a dynamic error model of the integrated navigation system, and outputting the position of the SINS at the K moment by using an error estimation result
Speed output
And attitude matrix output CkCorrecting and simultaneously zero-biasing the gyroscopegAccelerometer zero offset
The heading mount angle α, pitch mount angle β, and odometer scale factor τ are updated.
3. The multi-source sensor fusion positioning switching method according to claim 1, wherein the specific method for obtaining the GNSS/SINS loosely coupled output is:
according to the GNSS measurement covariance information, a GNSS state equation and a measurement equation are established;
and resolving a loose coupling measurement equation according to the position and speed error measurement equations respectively measured and calculated by the GNSS and the SINS to obtain loose coupling output.
4. The multi-source sensor fusion positioning switching method according to claim 1, wherein the specific process of calculating the loosely-coupled measurement equation according to the position and velocity error measurement equations respectively measured and calculated by the GNSS and the SINS comprises:
the real position of the carrier is (x, y, z) and the speed is (v)x,vy,vz) The position and the speed obtained by SINS are respectively (x)1,y1,z1) The GNSS-derived position and velocity are (x) respectivelyG,yG,zG)、(vxG,vyG,vzG) Wherein:
the position obtained by SINS calculation is specifically as follows:
in the formula, x1、y1、z1Respectively outputting position errors of the strapdown inertial navigation system and position errors of x, y and z along three axes of a geographic coordinate system;
the GNSS-derived position is specifically:
in the formula, xG、yG、zGRespectively, the GNSS system output position, nx、ny、nzRespectively the position error noise of the receiver along three axes of a geographic coordinate system;
the position error equation is obtained as follows:
converting the position error into a geodetic coordinate system to obtain a measurement equation of the position error as follows:
wherein the content of the first and second substances,
Vp＝[-nx,-ny,-nz]Tr is the equator radius of the earth, and L is the geographical latitude;
obtaining a speed measurement equation:
in the formula nvx、nvy、nvzRespectively velocity error noise, v, of the receiver along the axis of the geographical coordinate systemx、vy、vzRespectively the velocity of the receiver along the axis of the geographical coordinate system.
Hv＝[O3×3I3O3×9],Vv＝[-nvx-nvy-nvz]。
Combining the position measurement equation and the speed measurement equation to obtain a loose coupling measurement equation as follows:
5. the multi-source sensor fusion positioning switching method according to claim 1, wherein the fusion positioning result is specifically:
P＝wPA+(1-w)PB
in the formula, PAIs GNSS/SINS loose coupling output; pBAnd w is the weight of the GNSS/SINS loose coupling output.
6. The multi-source sensor fusion positioning switching method according to claim 1, wherein when the number of receivable satellites is greater than or equal to 4, the GNSS receiver acquires initial pose information.
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| CN113608249A (en) * | 2021-07-16 | 2021-11-05 | 香港理工大学深圳研究院 | Indoor and outdoor seamless positioning and navigation library self-construction method |
| CN114137587A (en) * | 2021-12-01 | 2022-03-04 | 西南交通大学 | Method, device, equipment and medium for estimating and predicting position of moving object |
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