Research And Implementation On Aided Inertial Navigation Positioning Algorithm Based On Road Networks Feature

With the development of social economy and the improvement of science and technology,the Inertial Navigation System has become the indispensable part of social and economicdevelopment and national defense construction, and is widely applied in various fields. Butpositioning error of Inertial Navigation System, which has a serious impact on the precision ofpositioning, will be increased with the time accumulation. In order to solve this problem, aidedinertial navigation position algorithm based on road networks feature is put forward in this paperbased. By comparing the different features between the inertial navigation path and road networkdata, the average vector is found out and the position of anchor point is corrected.The main content that the paper studies and the work that the paper finishes are as follow：1. The research status and existing problems of Inertial Navigation System are analyzed aswell as the aided positioning technology. The paper points out the significance of using networkdata. The framework and main function of aided positioning system based on road networksfeature is given, which can be used in embedded and mobile carrier. The positioning algorithmis the core of the whole system. The existing aided positioning algorithm based on the featureof road network are analyzed, and the problem, inertial navigation system can’t achieve goodlocation results under the condition of larger accumulation error, is pointed out.2. Road network data is the basis of inertial navigation aided positioning algorithm based onthe road network, so it is the key of the algorithm. This paper analyzes the characteristics of roadnetwork structure, and the spatial index and topology relationship is established. According to astandard grid index and graphical topological relations, it proposes the binary road network datastorage, with index files and network data file, and realizes the data loading. The deficiency ofthe current compression algorithm on data are analyzed. A data compression based on slopereduction method is design for the redundancy and invalid data and the inertial navigation datafiltering principle is put forward.3. Based on inertial navigation positioning larger error, aided inertial navigation positionalgorithm based on road networks feature is put forward. Feature extraction is the core of thealgorithm running, this paper designs a feature extraction model based on traveling state andsub-state, which has good adaptability and high extraction efficiency in the different shapefeatures of the complex road feature extraction. The design of algorithm in process, which isfrom a network to track data and inertial navigation feature extraction, feature of minimumoutside matrix calculation, projection point judgment, calculation of translation vector to thefinal iteration error correction, can be used in the embedded environment. 4. The paper finally use the Microsoft visual C++6.0development environment tocomplete the aided positioning algorithm based on road network data implementation. Thedesign of the overall functional architecture and the basic flow of the overall algorithm isproposed. Corresponding experiment,including data loading, curve feature extraction andmatching error correction, is implemented. The experimental result shows that the algorithm hasa higher application value and is good at inertial navigation positioning error correction.