高精度激光陀螺定位定向系统广泛应用于炮兵测地车、导弹发射车等车载平台,由于激光陀螺定位定向系统误差随时间快速积累,因此需要外部信息对其误差进行校正。目前惯性导航系统外部辅助观测手段主要有：零速修正、里程计、卫星导航等,基于卡尔曼滤波实现惯性导航系统误差校正,但均难以满足长时间、高效率、高精度、抗干扰的自主导航定位需求。地图匹配技术具有自主、高精度的特点,采用地图匹配与激光陀螺惯性导航系统相结合,形成地图匹配辅助惯性导航系统可满足以上要求。研究并提出基于曲线匹配的地图匹配方法,充分利用激光陀螺惯性导航系统的高精度姿态信息,基于线特征点间切向量夹角随弧长的变化量衡量待匹配曲线特征间的相似度,较现有的点到点、点到线的匹配技术有更高的定位精度。通过实验分析,曲线匹配修正后激光陀螺定位定向系统水平精度优于15 m。

High-precision RLG based inertial position and orientation system is widely used in artillery surveying vehicles, missile launchers and other vehicle platforms. Due to the error of inertial navigation system increases with time, it is essential to use aided measurements to correct it. The common aided observations include zero velocity, odometer and GNSS. By using Kalman filter the inertial navigation system error can be revised. However, it is difficult for the navigation system to work autonomously in long time with high efficiency, high precision and anti-interference. Map matching technology is self-contained and high-precision. Using map-matching to aid inertial navigation system can meet the above requirements. A map matching method based on curve matching is studied and proposed in this paper, which makes full use of the high precision attitude information of the inertial navigation system. Based on the change of the arc tangent angle between the increasing tangents of the line feature points, the similarity between the characteristics of the matching curve is effectively assessed. The new method has better performance than the point to point and point to line matching technology. Through the experimental analysis, the curve matching method accuracy is better than 15 m.