High-precision navigation and positioning method with limited error divergence algorithm under closed environment

doi:10.13474/j.cnki.11-2246.2021.0242

Abstract

Abstract: The navigation accuracy of navigation and positioning devices based on GNSS system is limited in closed or blocked environment. Therefore, improving indoor positioning accuracy and getting rid of GNSS dependence is a current research hotspot. Aiming at this problem, this paper studies the LiDAR+IMU+DMI multi-source sensor navigation and positioning technology. By bringing the LiDAR control target data into the Kalman filter equation, the error state vector of the IMU+DMI combination is calculated, and the error dispersion is limited, so as to obtain the high-precision position of the device. This technology can make the mobile measuring equipment completely get rid of the dependence on GNSS signal, realize the accurate positioning of the mobile measuring equipment in underground closed space, and facilitate the detection of underground space. Experiments on a subway in Wuhan show that the proposed algorithm is suitable for high precision navigation and positioning of mobile measuring equipment without GNSS signal in underground and indoor enclosed environment.

Key words: enclosed environment, LiDAR data, precision analysis, mobile navigation, limited error divergence algorithm

CLC Number:

P228

WANG Xiaojing, TANG Chao, WANG Yong, HOU Haiqian, YANG Xiaofei. High-precision navigation and positioning method with limited error divergence algorithm under closed environment[J]. Bulletin of Surveying and Mapping, 2021, 0(8): 65-68,73.

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