一种自主式陆地导航系统的研究

空间控制技术与应用 ›› 2009, Vol. 35 ›› Issue (2): 56-60.

一种自主式陆地导航系统的研究

蔡虹曼，王海青，石光华，张海涛

北京控制与电子技术研究所，北京100038

收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2009-04-25 发布日期:2009-04-25

Research on an Autonomous Land Navigation System

CAI Hongman, WANG Haiqing, SHI Guanghua, ZHANG Haitao

Beijing Institute of Control and Electronic Technology ，Beijing 100038, China

Received:1900-01-01 Revised:1900-01-01 Online:2009-04-25 Published:2009-04-25

摘要/Abstract

摘要： 为实现车辆在不依赖卫星定位的条件下能长时间、长距离、高精度导航，研究了一种激光陀螺捷联式惯导系统（LSINS）/里程仪/地理信息系统（GIS）陆地组合导航系统。在建立误差估计模型的基础上，充分利用GIS位置信息和可能出现的临时停车状态，提出了用GIS标定里程仪参数并修正方位角误差以及自动零速校准的方法。通过野外跑车试验，对系统的实时定位和定向精度进行了考核，证明了上述方法可有效降低导航主要误差源的发散速度。

关键词: 激光陀螺捷联式惯导, 里程仪, 地理信息系统, 陆地导航系统

Abstract: In order to guarantee high-accuracy navigation independent of GPS/GLONASS during long time and long range running, a combined land navigation system using the odometer(OD) and geographic information system(GIS) assisted with the laser-gyro strapdown inertial navigation system(LSINS/OD/GIS) is described in this article. Based on error estimation equation, an automatic zero updating function and odometer parameter calibration and the navigation azimuth error correction by GIS position information synthetically are proposed, using the GIS position information and possible temporary parking states. The results of accuracy verification test are also presented, indicating divergent velocity of main errors has been effectively reduced.

Key words: laser-gyro strapdown inertial navigation system, odometer, geographic information system, land navigation system

中图分类号:

V249.3

蔡虹曼，王海青，石光华，张海涛. 一种自主式陆地导航系统的研究[J]. 空间控制技术与应用, 2009, 35(2): 56-60.

CAI Hongman, WANG Haiqing, SHI Guanghua, ZHANG Haitao. Research on an Autonomous Land Navigation System[J]. , 2009, 35(2): 56-60.