Research on GPS/INS Integrated Navigation Algorithm under Open-Pit Mining Environment
The road in the open-pit mining area is narrow,with many curves,rubbles,and bumpy roads.The special surface closed loop leads to system model anomalies and measurement noise uncer-tainty problems during positioning of transport vehicles.To address the above issues,we propose an SVD-AUKF algorithm with a noise estimator.The algorithm suppresses the pathological matrix that occurs during the filtering process by singular value decomposition of the covariance matrix,estimates the measurement noise using the Sage-Husa estimator,reduces the system state error,and introduces an adaptive factor to correct the system model error in real time to suppress the filtering divergence.We apply and test the proposed SVD-AUKF algorithm to the GPS/INS integrated navigation system model on a vehicle in a mining environment.The results show that the new algorithm has good applicabili-ty,with position accuracy improvements of approximately 50.69％,51.20％,and 48.54％compared to the AUKF algorithm;speed accuracy improvements of approximately 31.24％,33.83％,and 31.30％in E,N,U directions,which can effectively improve the filtering performance and increase system positioning accuracy.
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维普
