基于运动检测的飞行区车辆差分北斗/SINS组合导航

针对机场飞行区车载差分北斗/SINS组合导航系统中卫星信号衰弱、断续和中断时引起导航系统精度降低的问题，提出一种基于运动检测的高精度组合导航方法。该方法基于运动检测的差分北斗/SINS组合导航系统框架，根据车辆运动的特性，利用零速修正与动态零速修正相结合的模式来约束SINS误差；建立系统误差最优估计状态方程和量测方程，并结合惯性测量单元输出的陀螺和加速度计信息以及SINS输出速度来实现车辆运动状态的检测；最后通过车载实验验证该方法的可行性。结果表明，卫星信号有效时，差分北斗/SINS组合导航定位精度优于1 m；相比于传统运动学约束技术，2.5 km信号中断场景下，组合导航系统的经度误差最大值由5.21 m减小为1.35 m。

Differential Beidou/SINS Integrated Navigation for Airfield Vehicle Based on Motion Detection

In order to solve the problem of the accuracy reduction of the navigation system caused by the weak,intermittent,or interrupted satellite signals of the differential Beidou/SINS integrated navigation system in the airfield vehicle,we propose a high-precision integrated navigation method based on motion detection.The method is based on the differential Beidou/SINS integrated navigation system frame of motion detection,using the zero-velocity update and dynamic zero-velocity update to constrain the SINS errors according to the characteristics of the vehicle motion.We establish the state equation and measurement equation for optimal estimation of system errors,and realize the vehicle motion detection using gyro and accelerometer information of inertial measurement unit and the speed of SINS.We carry out vehicle experiments to verify the feasibility of the method.The results show that the positioning accuracy of Beidou/SINS integrated navigation system is better than 1 m when the satellite signal is valid.Compared to the traditional velocity constraint technology,the maximum longitude error of the integrated navigation system is reduced from 5.21 m to 1.35 m in the scene of 2.5 km satellite signal interruption.