强激光与粒子束, 2014, 26 (3): 031012, 网络出版: 2014-03-31   

基于激光测速仪的高精度定位定向技术

High accuracy positioning and orientation based on laser velocimeter
作者单位
北京航空航天大学 仪器科学与光电工程学院, 北京 100191
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。
Abstract
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.

张小跃, 林志立, 张春熹. 基于激光测速仪的高精度定位定向技术[J]. 强激光与粒子束, 2014, 26(3): 031012. Zhang Xiaoyue, Lin Zhili, Zhang Chunxi. High accuracy positioning and orientation based on laser velocimeter[J]. High Power Laser and Particle Beams, 2014, 26(3): 031012.

本文已被 2 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!