关键词: 智能车辆；自主驾驶；组合导航；信息融合

Abstract:

To satisfy the high-reliable navigation demand in the complex environment for the autonomous intelligent vehicle, a new multi-sensor integrated navigation technique was studied.An integrated SINS/CP-DGPS/speedometer navigation method based on the self-adaptive federated Kalman filter was proposed.According to the separate configuration of federated filter,several filter models of this navigation method were then set up.Finally,simulation experiments were made.Simulation results show that the proposed navigation method can provide enough navigation information at 100Hz with cm-level navigation accuracy and good fault-tolerant ability,which is very convenient to separate the fault sensor from the integrated system.Even when GPS is continuously interrupted for a period,the intelligent vehicle can still get reliable navigation information by the aid of the local filter formed by SINS/Speedometer.

Key words: intelligent vehicle;autonomous driving, integrated navigation;information fusion