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全球导航卫星系统接收机在无人驾驶车辆中的精度研究。

Study of Global Navigation Satellite System Receivers' Accuracy for Unmanned Vehicles.

作者信息

Miletiev Rosen, Petkov Peter Z, Yordanov Rumen, Brusev Tihomir

机构信息

Faculty of Telecommunication, Technical University of Sofia, 1000 Sofia, Bulgaria.

Faculty of Electronics, Technical University of Sofia, 1000 Sofia, Bulgaria.

出版信息

Sensors (Basel). 2024 Sep 12;24(18):5909. doi: 10.3390/s24185909.

DOI:10.3390/s24185909
PMID:39338653
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11435958/
Abstract

The development of unmanned ground vehicles and unmanned aerial vehicles requires high-precision navigation due to the autonomous motion and higher traffic intensity. The existing L1 band GNSS receivers are a good and cheap decision for smartphones, vehicle navigation, fleet management systems, etc., but their accuracy is not good enough for many civilian purposes. At the same time, real-time kinematic (RTK) navigation allows for position precision in a sub-centimeter range, but the system cost significantly narrows this navigation to a very limited area of applications, such as geodesy. A practical solution includes the integration of dual-band GNSS receivers and inertial sensors to solve high-precision navigation tasks, but GNSS position accuracy may significantly affect IMU performance due to having a great impact on Kalman filter performance in unmanned vehicles. The estimation of dilution-of-precision (DOP) parameters is essential for the filter performance as the optimality of the estimation in the filter is closely connected to the quality of a priori information about the noise covariance matrix and measurement noise covariance. In this regard, the current paper analyzes the DOP parameters of the latest generation dual-band GNSS receivers and compares the results with the L1 ones. The study was accomplished using two types of antennas-L1/L5 band patch and wideband helix antennas, which were designed and assembled by the authors. In addition, the study is extended with a comparison of GNSS receivers from different generations but sold on the market by one of the world's leading GNSS manufacturers. The analyses of dilution-of-precision (DOP) parameters show that the introduction of dual-band receivers may significantly increase the navigation precision in a sub-meter range, in addition to multi-constellation signal reception. The fast advances in the performance of the integrated CPU in GNSS receivers allow the number of correlations and tracking satellites to be increased from 8-10 to 24-30, which also significantly improves the position accuracy even of L1-band receivers.

摘要

由于自主运动和更高的交通密度，无人地面车辆和无人机的发展需要高精度导航。现有的L1频段全球导航卫星系统（GNSS）接收器对于智能手机、车辆导航、车队管理系统等来说是一个不错且便宜的选择，但其精度对于许多民用目的来说还不够好。同时，实时动态（RTK）导航可实现亚厘米级的位置精度，但系统成本将这种导航方式的应用范围大幅缩小至非常有限的领域，如大地测量。一个切实可行的解决方案是将双频段GNSS接收器与惯性传感器集成，以解决高精度导航任务，但由于对无人车辆中的卡尔曼滤波器性能有很大影响，GNSS位置精度可能会显著影响惯性测量单元（IMU）的性能。精度因子（DOP）参数的估计对于滤波器性能至关重要，因为滤波器中估计的最优性与噪声协方差矩阵和测量噪声协方差的先验信息质量密切相关。在这方面，本文分析了最新一代双频段GNSS接收器的DOP参数，并将结果与L1频段的接收器进行比较。该研究使用了两种由作者设计和组装的天线——L1/L5频段贴片天线和宽带螺旋天线来完成。此外，该研究还扩展到对来自不同代但由世界领先的GNSS制造商之一在市场上销售的GNSS接收器进行比较。精度因子（DOP）参数分析表明，除了多星座信号接收外，引入双频段接收器可能会显著提高亚米级范围内的导航精度。GNSS接收器中集成CPU性能的快速提升，使得相关和跟踪卫星的数量从8 - 10颗增加到24 - 30颗，这也显著提高了即使是L1频段接收器的定位精度。

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