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Combined navigation and photoelectric detection integrative system

The invention relates to an combined navigation and photoelectric detection integrative system, which comprises an inertia measurement unit IMU, a GPS receiving system, an integrated computer and a photoelectric sight-stabilizing instrument, wherein the inertia measurement unit IMU comprises three gyroscopes and three accelerometers; the integrated computer acquires the output information of the inertia measurement unit IMU and the GPS receiving system to realize that (1) inertia and GPS combined navigation resolving is carried out by combining a strapdown inertial navigation resolving algorithm and a Kalman filtering algorithm to obtain the position, the speed and the attitude of a carrier, and meanwhile estimate the drift of the gyroscopes of the inertia measurement unit IMU; (2) the stable instruction angular speed of an optical axis is calculated and the photoelectric sight-stabilizing instrument is controlled to realize the stability of the optical axis, the gyroscope drift estimated by the combined navigation system is utilized to compensate the stable error of the optical axis to improve the stable precision of the optical axis of the photoelectric sight-stabilizing instrument; and (3) the target search instruction angle is calculated and the photoelectric sight-stabilizing instrument is controlled to rapidly search and lock a target by utilizing the position and the attitude information obtained by combined navigation resolving by combing the position information of the target. The invention greatly reduces the volume, the weight and the cost of the system and meanwhile improves the performance of subsystems.
Owner:BEIHANG UNIV
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