在陆用组合导航领域, 激光多普勒测速仪作为速度传感器能够与捷联惯导系统组成组合导航系统。为了抑制车辆颠簸引起的倾角变化对传统激光多普勒测速仪的影响, 文中给出了基于Janus配置的分光再利用型激光多普勒测速仪。针对其与惯导系统组合导航过程中该配置结构测速仪的误差参数, 文中首先推导了该测速仪的速度误差模型, 在此基础上提出了差分GPS辅助的Kalman滤波标定法。实施了仿真及车载组合导航实验验证该方法的有效性。实验结果表明: 文中提出的标定方法是有效的, 误差参数补偿后的Janus配置激光多普勒测速仪能够大大提高组合导航定位精度。

In the field of land integrated navigation, a laser Doppler velocimeter (LDV) can be used as a speed sensor to compose an integrated navigation system with a strapdown inertial navigation system (SINS). To suppress the influence of the inclination variations caused by vehicle jolts on conventional LDVs, a split-reuse LDV based on Janus configuration was presented. Aiming at the error parameters of this configuration type LDV in the integrated navigation with SINS, the velocity error model of LDV was deduced first, and then a Kalman filtering method assisted by a differential global positioning system (DGPS) to calibrate the error parameters was proposed. A simulation and a vehicle integrated navigation experiment were implemented to verify the effectiveness of the method. The experimental results show that the calibration method proposed in this paper is effective. The LDV based on Janus configuration after being compensated can greatly improve the positioning accuracy of the integrated navigation system.