中国激光, 2018, 45 (8): 0804004, 网络出版: 2018-08-11
陆用组合导航中二维激光多普勒测速仪的标定方法 
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Calibration Method of Two-Dimensional Laser Doppler Velocimeter in Land Integrated Navigation System
测量 二维激光多普勒测速仪 标定方法 Kalman滤波 组合导航系统 航迹推算 measurement two-dimensional laser Doppler velocimeter calibration method Kalman filtering integrated navigation system dead reckoning
摘要
为了抑制车辆颠簸及载重变化对一维激光多普勒测速仪的影响，设计了一种二维激光多普勒测速仪。针对其使用过程中的误差参数，提出了一种差分全球定位系统辅助的Kalman滤波标定方法，并设计了车载组合导航实验验证了该方法的有效性。由补偿后的二维激光多普勒测速仪与陀螺数据航迹推算的最大水平位置和最大高度的误差分别为5.5 m和0.36 m。结果表明，该标定方法是有效的，补偿后的二维激光多普勒测速仪能大大提高导航的水平定位精度，且能给出高精度的高度信息。
Abstract
To suppress the influences of vehicle jolts and the load variations on one-dimensional (1D) laser Doppler velocimeter (LDV), a two-dimensional (2D) LDV is designed. As for the error parameters produced in the usage process of 2D LDV, the Kalman filtering calibration method with the auxiliary of the differential global positioning system (DGPS) is proposed. The effectiveness of this method is verified by an experiment of vehicle load navigation. The maximum horizontal position error and the maximum altitude error of the dead reckoning of the 2D LDV after compensation and the gyroscopes are 5.5 m and 0.36 m, respectively. The experimental results show that this calibration method proposed is effective, and the 2D LDV after compensation can not only greatly improve the horizontal positioning accuracy of navigation, but also give high precision altitude informations.
王琦, 高春峰, 聂晓明, 周健, 魏国, 龙兴武. 陆用组合导航中二维激光多普勒测速仪的标定方法[J]. 中国激光, 2018, 45(8): 0804004. Wang Qi, Gao Chunfeng, Nie Xiaoming, Zhou Jian, Wei Guo, Long Xingwu. Calibration Method of Two-Dimensional Laser Doppler Velocimeter in Land Integrated Navigation System[J]. Chinese Journal of Lasers, 2018, 45(8): 0804004.
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