摘要
基于激光测速仪的工作原理、测量特性,结合惯性导航系统的工作特点,提出一种实现车体自主高精度定位定向的组合方法。推导了用于车载组合定位定向的三波束激光测速仪误差模型,结合捷联惯导误差模型,选取了组合卡尔曼滤波器状态量,并推导了组合导航量测模型。最后针对这种基于激光测速仪的组合定位定向方法进行了仿真计算,列出了相关计算结果,仿真结果验证了这种方法的正确性。
Based on the working principle and measurement peculiarity of laser velocimeter and the working peculiarity of inertial navigation system(INS),an integrated navigation method was proposed which could be used to realize autonomous high-accuracy positioning and orientation of land vehicles.The error model of the three-beam laser velocimeter used in vehicle positioning and orientation was deduced which was combined with error model of strapdown inertial navigation system(SINS).Kalman filter states of integrated navigation were chosen,and measurement model was deduced.At last,simulation of the SINS/laser velocimeter integrated positioning and orientation method was carried out,and the correlated results were presented,by which the method proposed in this paper was validated.
出处
《强激光与粒子束》
EI
CAS
CSCD
北大核心
2014年第3期66-70,共5页
High Power Laser and Particle Beams
关键词
激光测速仪
惯性导航
定位定向
卡尔曼滤波
laser velocimeter
inertial navigation system
positioning and orientation
Kalman filter
