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为适应自主驾驶智能车辆的高精度、高频率及高可靠性与鲁棒性的导航要求,对智能车辆的多传感器组合导航进行了研究。提出了一种基于H∞滤波的双向光电测速仪和CP-DGPS共同辅助SINS的智能车辆冗余组合导航方法。详细推导并建立了组合系统的滤波模型。仿真结果表明,该组合导航系统具有100Hz的高频输出、厘米级的导航精度以及良好的鲁棒性能与可靠性。即使系统特性发生了显著的变化,组合系统仍能为智能车辆提供可靠的导航信息。
In order to meet the high-precision, high-frequency, high-reliability and robust navigation requirements of autonomous driving smart vehicles, the multi-sensor integrated navigation system for smart vehicles is studied. A hybrid intelligent vehicle navigation system based on H∞ filtering and a CP-DGPS co-assisted SINS is proposed. The filter model of combined system is deduced in detail. Simulation results show that the integrated navigation system has a high-frequency output of 100Hz, centimeter-level navigation accuracy and good robustness and reliability. Even with significant changes in system characteristics, the combined system still provides reliable navigation information for smart vehicles.