交互式地图匹配算法在组合导航中的应用

针对捷联惯性导航系统（SINS）/里程仪组合导航中车辆受初始对准偏差和测量器件自身误差等因素影响的精度随时间和位移增加而降低的问题，设计了交互式电子地图匹配修正新方案.通过车辆姿态角变化选择合适的地图匹配算法，并在转弯处精确反馈修正车辆坐标，同时利用定位误差修正初始对准偏差和里程仪刻度系数误差，降低其对以后导航定位的影响.仿真结果表明，采用交互式电子地图匹配算法，航向失准角偏差可很快收敛至2′左右，里程仪刻度系数偏差也降低至0.08%左右，能够实现系统的需要，跑车实验也证明了此方案的有效性.

Application of Interactive Map Matching Algorithm in SINS/Odometer Integrated Navigation

In order to improve the influence of initial alignment error and the bias of measuring devices, the navigation accuracy was reduced with the increase of time and displacement on SINS/odometer integrated navigation, and the scheme for interactive electronic map matching algorithm modification was proposed. The right map matching algorithm was selected by changing the attitude angle of the vehicle, and accurately modifying the coordinate of the vehicle in turning. Besides, the initial alignment error and odometer coefficient error were modified by the position error at the same time to reduce subsequent navigation error. The simulation result shows that the azimuth misalignment angle error can be convergented to two minute and the odometer coefficient error can be reduced to 0.08% quickly by the interactive map matching algorithm, which can satisfy the demand of navigation system. The vehicle driving experiment also shows that the proposed method is valid.