2019年11月08日湖北武昌区车载GNSS惯导数据

"本次GNSS/INS组合数据于2019年11月08日采集于武汉市武昌区测地所园区内。线路选取环园区柏油路以及一条横穿园区道路，路段整体比较平坦。其中，北部路段以及西南部路段树木稀疏，且远离高楼，GNSS观测条件尚好。东部路段两旁树木茂盛、GNSS信号遮蔽严重。中部路段处于两栋高楼之间，属于典型城市峡谷环境。在园区高楼天台架设GNSS基站，基线长度不超过300m。实验设备包括：两台天宝NET R9接收机，一台作为GNSS基准站架设于园区高楼天台，采用扼流圈天线，另一台作为车载流动站，采用司南小天线；一辆丰田轿车；一套时空经纬MEMS IMU惯导，陀螺漂移20deg/h,角度随机游走2deg/ sqrt(hr)，输出率100Hz；一套Novatel SPAN FSAF战术级光纤惯导，陀螺漂移0.75deg/h，角度随机游走0.1deg/sqrt(hr),输出率200Hz；
实验从大约GPST 07:20: 00s开始，至07:50: 00s结束，载体首先静止10分钟，然后以平均25km/h的速度运动约10分钟，最后静止10分钟。轨迹包括直线、转弯，停车，GPS观测卫星一般5-7颗，最多8颗，最少0颗；BDS观测卫星10-12颗，最多12颗，最少0颗。"

This GNSS/INS integrated dataset was collected on November 8, 2019, within the campus of the Institute of Surveying and Mapping, Wuchang District, Wuhan City. The test routes include the asphalt loop road surrounding the campus and a cross-campus road, with the overall road section being relatively flat. The northern and southwestern sections have sparse trees and are far from high-rise buildings, providing favorable GNSS observation conditions. The eastern section is flanked by dense trees, causing severe GNSS signal occlusion. The central section lies between two high-rise buildings, a typical urban canyon environment. A GNSS base station was installed on the rooftop of a campus high-rise building, with the baseline length not exceeding 300 meters.

The experimental equipment includes: two Trimble NET R9 receivers, one serving as the GNSS reference station mounted on the rooftop of the high-rise building with a choke ring antenna, and the other as the vehicle-mounted rover station equipped with a SinoGNSS small antenna; a Toyota sedan; a Shikong Jingwei MEMS IMU with a gyro drift of 20 deg/h, angle random walk of 2 deg/√hr, and an output rate of 100 Hz; and a Novatel SPAN FSAF tactical-grade fiber-optic IMU with a gyro drift of 0.75 deg/h, angle random walk of 0.1 deg/√hr, and an output rate of 200 Hz.

The experiment started at approximately GPST 07:20:00 and ended at 07:50:00. The test platform first remained stationary for 10 minutes, then moved at an average speed of 25 km/h for about 10 minutes, and finally remained stationary for another 10 minutes. The collected trajectory includes straight segments, turns, and stop events. The number of observable GPS satellites generally ranges from 5 to 7, with a maximum of 8 and a minimum of 0; the number of observable BDS satellites ranges from 10 to 12, with a maximum of 12 and a minimum of 0.

搜集汇总

背景与挑战

背景概述

该数据集是2019年11月8日在湖北武昌区采集的车载GNSS/INS复合导航数据，主要用于研究城市环境中GNSS信号遮挡（如树木和高楼）对导航性能的影响。数据包括原始未处理的文本数据，采集设备包括高精度GNSS接收器和惯性导航系统，实验路线涵盖平坦道路、城市峡谷等典型场景，旨在支持测绘科学和集成导航技术的研究。