| 低速无人系统定位导航通用指标及测试方法 |
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| 引用本文： | 裴凌,刘海春,赵澎,朱亚夫,鲁吉林,梁霄.低速无人系统定位导航通用指标及测试方法[J].导航定位于授时,2019,6(4):41-49. |
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| 作者姓名： | 裴凌 刘海春 赵澎 朱亚夫 鲁吉林 梁霄 |
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| 作者单位： | 上海交通大学,上海市北斗导航与位置服务重点实验室,上海200240;中国通信研究院华东分院,上海,200002;上海北斗导航创新研究院,上海,201702;陆军装备部装备项目管理中心,北京,100071;上海华测导航技术有限公司,上海,201702 |
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| 基金项目： | 国家自然科学基金（61873163）；上海市科委重点项目（17DZ1100803）；工信部行业标准（2018-1798T-YD） |
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| 摘 要： | 针对目前小型低速无人系统定位导航测评缺乏标准化测试环境和测试方法,测试指标简单、难以量化等问题,分析了位姿测量、导航能力、环境感知三类通用测试指标和典型的测试条件,针对三类通用的技术指标提出了通用的测试评估方法。
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| 关 键 词： | 低速无人系统 定位导航 通用指标 测试方法 |
Low Speed Unmanned System Positioning and Navigation General Indicators and Test Methods |
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| PEI Ling,LIU Hai-chun,ZHAO Peng,ZHU Ya-fu,LU Ji-lin and LIANG Xiao.Low Speed Unmanned System Positioning and Navigation General Indicators and Test Methods[J].Navigation Positioning & Timing,2019,6(4):41-49. |
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| Authors: | PEI Ling LIU Hai-chun ZHAO Peng ZHU Ya-fu LU Ji-lin and LIANG Xiao |
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| Institution: | Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai Jiao Tong University, Shanghai 200240, China,Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai Jiao Tong University, Shanghai 200240, China,East Institution of China Academy of Information and Communications Technology, Shanghai 200002, China,Shanghai Beidou Navigation Innovation Research Institute, Shanghai 201702, China,Project Management Office, Department of Army Equipment, Beijing 100071, China and Shanghai Huace Satellite Navigation Technology Ltd., Shanghai 201702, China |
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| Abstract: | Evaluation is a crucial work for low speed unmanned system development. However, there are lacks of standardized test environment and test methods of positioning and navigation evaluation. The evaluation indicators are too simple to quantify the performance. In order to address these problems, the paper investigates three groups of indicator including pose estimation, navigation capability, environment perception. Further, typical test setups are introduced. Finally, general test evaluation methods are proposed for performance evaluation of low speed unmanned systems. |
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| Keywords: | Low speed unmanned system Positioning and navigation General indicators Test methods |
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