车载光学测速仪/惯性组合导航定位定向系统研究

车载定位定向技术是指车上导航系统在载车行驶过程中精确确定其所在位置的地理坐标、北向方位及姿态角,为陆基导弹等武器的机动发射提供参考基准。对惯性定位定向系统的各种误差(包括陀螺和加表的随机漂移)进行误差分析建模,将光学测速仪的速度作为观测量,利用卡尔曼滤波技术,估计补偿惯性定位定向系统的各种误差,包括位置、速度、姿态和航向以及惯性器件误差等,最终实现系统的高精度组合导航。对山区泥石路和高原泥石路跑车试验结果进行统计分析发现,组合导航精度在15m以内,满足炮兵车陆基导弹等武器机动发射的使用需求。

Vehicle Velocity Detector/Inertial Integrated Navigation Positioning and Azimuth Determining System

The system basic function of the vehicle position and azimuth（PADS） is to provide the user with accurate determining ge- ographical coordinate, azimuth, attitude and other navigation data on an automatic and continuous basis, which are the reference standards for the missile launch. The algorithm can establish mathematic model for various errors（including gyro drift and acceler- ometer drift） of inertial position and azimuth determining system, and use optic velocity detector output as metrical value for Kalman filter. In this way, the various errors of INS can be measured and eliminated, and the integrated navigation system can meet the re- quirements of high precision. A series of tests on miry road and altiplano show that the precision of orientation is less than 15 m, and the integrated system can meet the requirements in the shooting of vehicle missile.