Combined navigation method and device based on double-laser Doppler velocimeter and inertial navigation system

Abstract

The invention provides an integrated navigation method and device based on double laser Doppler velocimeters and an inertial navigation system. The integrated navigation method comprises the following steps: firstly, constructing output speeds and speed error models of the two laser Doppler velocimeters under a carrier coordinate system; establishing a state equation of a filtering system by taking scale coefficient errors and installation angle errors of the two laser Doppler velocimeters and inertial navigation attitude errors, speed errors, position errors, gyroscope measurement errors and accelerometer measurement errors of the inertial navigation system as state vectors; taking the difference between the displacement increment of the inertial navigation system in the carrier coordinate system and the displacement increment of the two laser Doppler velocimeters under the carrier coordinate system and the difference between the course angle obtained by the inertial navigation system and the course angles obtained by the two laser Doppler velocimeters as observed quantities, and constructing an observation equation of the filtering system; and performing feedback correction on the dual-laser Doppler velocimeter and the inertial navigation system by using the state vector obtained by filtering, and outputting a corrected positioning result. The precision of integrated navigation can be improved.

Description

technical field [0001] The invention belongs to the technical field of combined navigation, in particular to a combined navigation method and device based on a dual-laser Doppler speedometer and an inertial navigation system. Background technique [0002] The integrated navigation system measures the required information through multiple external auxiliary sensors, and fuses the measured values ​​of the external auxiliary sensors with the solution values ​​of the strapdown inertial navigation system (SINS) through methods such as Kalman filtering and factor graph. Estimate and correct errors in navigation information and sensors. The integrated navigation gives full play to the advantages of each sensor, makes the advantages of each sensor complement each other, and corrects the navigation results and sensor errors in real time through feedback, which greatly improves the navigation accuracy and fault tolerance of the system. The current mainstream integrated navigation sys...

AI Technical Summary

Problems solved by technology

However, the signal of LDV may be lost on waterlogged roads or sunken roads, which will affect the accuracy of integrated navigation.

In the navigation process, the heading angle error is the main cause of the position error, which is why the low-cost inertial navigation system cannot maintain the positioning accuracy for a long time

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