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,证明上述方法可有效降低导航主要误差源的发散速度。
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 the 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.
出处
《空间控制技术与应用》
2009年第2期56-59,64,共5页
Aerospace Control and Application
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
laser-gyro strapdown inertial navigation system
odometer
geographic information system
land navigation system
