基于光纤陀螺捷联惯导的载体位姿精密测量

Precise Measurement of Carrier Position and Attitude Based on Fiber Optic Gyroscope Strap-Down Inertial Navigation System

针对大型特种载体位姿测量系统结构复杂、可靠性差、成本高的问题,基于光纤陀螺(FOG)捷联惯导系统(SINS),采用卫星、天文2级组合导航,提出了实现载体导航信息精密测量的新方法,给出了组合导航系统的滤波结构、误差方程、数学模型。数据分析与精度评估的结果表明,采用小型化、高可靠性、低成本的FOG SINS的组合导航方法能够实现载体速度、位姿的精密测量。基于FOG SINS的载体位姿的精密测量方法是实现导航低成本、高性能的一种有效途径。

Aiming at the complex structure, poor reliability and high cost of the large special carrier position and attitude measurement system, a new method for precise measurement of carrier navigation information is proposed by using the two-level integrated navigation of satellite navigation and celestial navigation based on the fiber optic gyroscope （FOG） strap-down inertial navigation system （SINS）. The filtering structure, error equation and mathematical model of the integrated navigation system are presented. The results of data analysis and accuracy assessment show that the integrated navigation method, based on FOG SINS with small size, high reliability and low cost, can achieve the precise measurement of carrier velocity, position and attitude. The precise measurement method of carrier position and attitude based on FOG SINS is an effective way to realize low cost and high performance of navigation.