【摘要】 针对纯惯性导航系统短期精度较高而长期精度很差的特点,提出了一种距离信息与惯性导航系统组合的定位方案,利用激光测距等方式所获取到的多个载体到某个已知点的距离和载体之间的相对距离信息,联立惯性导航系统的定位参数按照空间几何关系建立方程组,由该方程组解算得到修正的载体定位信息。具体分析了该方案的组合原理,并对定位误差进行了理论推导和半实物仿真,结果表明载体主动选取一定的位置配置时该方案可显著提高惯性导航系统的定位精度。更多还原

【Abstract】 Aiming at the characteristics that stand-alone inertial navigation system has high short-term accuracy but poor long-term accuracy,a positioning scheme combining inertial navigation system with distance information is proposed. Utilizing the distance information measured by laser ranging or other methods from multiple carriers to a known point and the mutual distances among the carriers,and with the help of the positioning parameters given by the inertial navigation system,a set of equations is established according to the space geometrical relationship. By solving the equations the corrected positioning information of the carriers is obtained. The combination principle of the scheme is introduced in detail,and the positioning error is deduced in theory and analyzed with semi-physical simulation,the results show that the proposed scheme can significantly improve the positioning accuracy of inertial navigation system when the carriers move to certain positions initiatively.更多还原