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In order to solve the problem of the degradation of the autonomous positioning accuracy of the land-based inertial/odometry dead reckoning (DR) system for long-term and large-range driving under satellite denial, an inertial/map matching error identification method based on global geometric feature sliding optimization is proposed. Firstly, a map matching algorithm based on the geometric features of the trajectory is designed to achieve the accurate matching of the DR trajectory and the road data of the electronic map. Secondly, after obtaining the accurate map matching results, based on the principle of similarity between the DR trajectory and the real trajectory, a DR error identification and compensation method based on the sliding optimization of global geometric features is proposed, which identified and compensated the position error and odometer scale coefficient error of the navigation system. The vehicle experiment results show that the proposed method can achieve high-precision autonomous positioning of vehicles under large-scale driving conditions, and the maximum horizontal positioning error throughout multiple large-scale long-distance (with driving distances all exceeding 160 km) on-board experiments is 12.76 m, compared with the traditional translational vector compensation and adjacent feature point identification and compensation methods, the maximum positioning error is reduced by 53.1% and 31.0% on average, the root mean square error is reduced by 50.0% and 39.0% on average, which verifies the effectiveness of the proposed method.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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