基于激光多普勒测速仪的车载组合导航
Vehicle integrated navigation based on laser Doppler velocimeter
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摘要: 针对车载纯捷联惯性导航系统(SINS)导航精度随时间增长而降低的不足，提出了基于激光多普勒测速仪（LDV）这一新型速度传感器的组合导航方案。通过建立SINS/LDV组合导航系统的状态方程和量测方程，设计了系统的卡尔曼滤波器，并对组合导航系统进行了仿真模拟。结果表明：SINS/LDV组合方案能够有效减小SINS导航参数随时间的累积误差，可以实现全自主、高精度导航；当LDV测速精度为0.1%时，组合导航系统的位置精度提高了2个数量级，速度精度提高了1个数量级。Abstract: For the navigation accuracy of strapdown inertial navigation system (SINS) degrades with time, a scheme of vehicle integrated navigation based on laser Doppler velocimeter (LDV) combined with SINS is proposed. Through establishing the state and measurement equations, practical Kalman filter for the integrated system is designed and system simulations are then carried out. It can be concluded that the SINS/LDV integration system can reduce the accumulated error of SINS effectively so that self-contained navigation of high accuracy could be realized. The position accuracy and velocity accuracy are increased by 2 orders and 1 order of magnitude with the SINS/LDV system, respectively, when the velocity measurement accuracy of LDV is 0.1%.
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