基于地图匹配的车载惯导行进间精对准算法

针对车载惯性导航系统快速初始对准问题，以相似性原理为基础，提出了基于地图匹配辅助的车载惯导行进间精对准算法。首先，该算法研究并改进了基于移动相关的最小二乘地图匹配算法，通过跑车实验验证了改进的匹配算法的应用能够获得高精度的位置点群。然后以相似性原理为基础，提出了以地图匹配结果作为虚拟路标点的车载惯导系统行进间迭代精对准算法，从而摆脱对预置路标点的依赖。仿真结果表明，该算法能够获得与基于预置路标点的行进间对准算法精度相当的对准结果。

Study of Fine Alignment Scheme of In-vehicle SINS Based on Map-matching

As to solve the rapid initial alignment problem for vehicular SINS, the in-motion fine alignment method based on the principle of similarity is investigated with the assistant from map-matching. An in-motion alignment method based on improved map-matching algorithm for vehicular SINS is proposed. Firstly, an improved map-matching scheme based on moving-related least square method is developed, which is verified by experiments and the results show that a group of accurate position points can be obtained. Then, the in-motion fine alignment algorithm by using the obtained group of position points as virtual landmark is proposed. The algorithm can work effectively without the real preplaced landmark. Simulation results show that the accuracy of the new alignment method is the same as the previous algorithm using preplace landmark.