高精度激光多普勒测速仪在陆用自主导航系统中的应用

Application of High-Accuracy Laser Doppler Velocimeter in Self-Contained Land Navigation System

为了提高陆用自主导航系统的精度和机动能力,对高精度激光多普勒测速仪(LDV)在陆用导航领域的应用进行了研究。首先对分光再利用型LDV的结构和基本原理进行了介绍。在分析了自研的惯性导航系统(INS)和激光测速仪优缺点的基础上,对高精度测速仪辅助惯导系统的行进间姿态矫正、动态LDV参数误差估计和实时误差补偿一体化技术进行了研究。理论上阐述了在惯性导航系统误差方程中引入速度可以实现行进车辆的对准和高精度的自主导航的可行性。动态跑车实验结果表明,通过加入速度修正信息,在没有停车的状态下,跑车1.2h,惯导系统的导航误差从2000m降至6m以内。理论和实验证明,通过在传统的惯导系统中加入高精度LDV的辅助信息,可以大大提高陆用自主导航系统的性能。

In order to improve the accuracy and maneuverability of self-contained land navigation system,the application of high-accuracy laser Doppler velocimeter（LDV）in the field of land navigation is studied in this paper.The structure and basic principle of the split reuse-type LDV are expounded.Based on the analysis of the advantages and disadvantages of the inertial navigation system（INS）and LDV which are developed by our own department,the integrated technology of marching initial alignment,dynamic calibration and real-time errors compensation are discussed in detail.Expounded in theory that the attitude correction for marching vehicles,dynamic LDV parameter error estimation and high-precision autonomous navigation can be achieved by introducing velocity into the error equation of inertial navigation system.The results of dynamic vehicle tests show that the navigation error of inertial navigation system decreases from 2000 m to 6 min 1.2 h without parking.It is even proved by theory and experiment that the performance of land navigation system is greatly improved after the application of high-accuracy LDV in land inertial navigation system.