【摘要】 成像激光雷达通过扫描可以测量高精度的地形数据,基于成像激光雷达的地形辅助导航系统是纠正惯导误差的有效手段。根据激光雷达测距模型提出了基于成像激光雷达的地形辅助导航系统,将激光雷达看作一个多维距离传感器阵列,利用卡尔曼滤波器迭代估计系统的状态误差,从而纠正惯导累积误差。根据激光雷达测距关系推导了系统的扩展卡尔曼滤波方程,并对成像激光雷达多维测量数据采用最小均方误差准则进行融合,融合滤波器组合了多个测量数据的信息,有效克服了测量噪声和数据丢失对单个滤波器的影响,从而提高了导航性能。然后利用局部可观测性对系统的性能进行了分析,并对提出的算法作了大量的仿真实验进行验证。更多还原

【Abstract】 The imaging laser radar measures high-resolution terrain data by scanning laser beams. The terrain-aided navigation(TAN) system based on imaging laser radar is efficient way for correcting the inertial navigation system(INS) state errors. The basic framework for applying the imaging laser radar to terrain-aided navigation system is proposed according to the measurement model of the laser radar. The imaging laser radar is regarded as a multi-dimension array of altimeter sensors, the Kalman filter is used to estimate the state errors of the system and correct the INS state errors. The equations of the extended Kalman filtering are established by using the model of the laser radar. The multiple measurement data are fused based on minimum-mean-square-error criterion. The fused filtering algorithm efficiently eliminates the affection from the measurement noise and lost data and improves the navigation performance by combining the multiple measurement data. Then local observability is utilized to evaluate the performance. Simulations are performed to illustrate the validity of the proposed algorithm.更多还原