车载GNSS失锁下基于BPNN的微陀螺误差估计及定位方法研究

doi:10.3969/j.issn.1001-506X.2020.05.22

Abstract

Abstract:

In the global navigation satellite system (GNSS) outages phase, the micro-gyroscope inertial system is used as a standby positioning system. In order to solve the problem of positioning divergence error caused by micro-gyroscope error, the error estimation of the micro-gyroscope and location method based on back propagation neural network (BPNN) is proposed in this paper. In the GNSS effective phase, it provides positioning information for vehicles and estimates the micro-gyroscope error. A prediction model of micro-gyroscope error that is prepared for vehicle positioning in the GNSS outages phase is established by the BPNN. In the GNSS outages phase, the micro-gyroscope error prediction model is used to estimate the micro-gyroscope error and compensate the output information of the micro-gyroscope to suppress the positioning error caused by the gyroscope error. Finally, the correctness and effectiveness of this method is verified by simulation and experiment.

Key words: global navigation satellite system (GNSS) outages, micro-gyroscope inertial system, micro-gyroscope error, prediction

CLC Number:

Qiuying WANG, Kaiyue LIU, Juan YIN. Research on error estimation of micro-gyroscope and location method based on BPNN for vehicle during GNSS outages[J]. Systems Engineering and Electronics, 2020, 42(5): 1139-1145.

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References 21

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器件参数			定位误差/m
ΔA/(m/s²)	ε_f/(°/h)	ε_T/(°/$\sqrt{h}$)	2 min	5 min
0.1 mg	10	0.16	194.2	3 003
0	10	0.16	193.9	3 002
0.1 mg	0	0	9.96	61.62
0.1 mg	15	0.2	291	4 505
0	15	0.2	290.8	4 504
0.1 mg	0	0	9.96	61.62
0.1 mg	20	0.26	388.2	6 010
0	20	0.26	388.1	6 009
0.1 mg	0	0	9.96	61.62

误差	状态	均值	标准差
纬度误差/m	GNSS失锁	267.80	235.49
纬度误差/m	补偿后	5.36	4.71
经度误差/m	GNSS失锁	232.71	236.44
经度误差/m	补偿后	4.65	4.73

误差	状态	第一次失效		第二次失效
误差	状态	均值	标准差	均值	标准差
纬度误差/m	GNSS失锁补偿后	73.79	65.39	83.74	77.39
纬度误差/m	GNSS失锁补偿后	3.52	3.08	4.02	3.68
经度误差/m	GNSS失锁补偿后	22.32	23.36	33.14	30.48
经度误差/m	GNSS失锁补偿后	1.31	1.39	1.85	1.74

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Research on error estimation of micro-gyroscope and location method based on BPNN for vehicle during GNSS outages

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