基于地标观测的导弹发射车定位定向算法  

Position and orientation method for missile vehicle by observing landmarks

作　　者：何颖[1] 李岁劳[1] 郭强[1] 

机构地区：[1]西北工业大学自动化学院,西安710129

出　　处：《仪器仪表学报》2016年第4期751-756,共6页Chinese Journal of Scientific Instrument

基　　金：航空基金(20150153002)项目资助

摘　　要：针对导弹发射车的特点,提出了一种高精度的定位定向算法。事先在发射场周围布设地标,用差分全球卫星定位系统测量出这些地标的位置;当发射导弹时,用发射车顶上的光电探测器测出其中3个地标的方位角和俯仰角;然后将参数分为垂直与水平两个通道交替估计,解算出发射车的位置和姿态。仿真结果表明,特别是在平原地形中不可避免的发射车与地标接近共面的情况下,与类似算法相比,本算法能够更加稳定地收敛到正确解。作为一个系统,外场实验证明本系统的位置精度为厘米级,方位精度为13角秒,横滚与俯仰精度均为25角秒。A high precision position and orientation algorithm for the missile vehicle is proposed. Some landmarks around the launching ground are deployed in advance, and the locations of those landmarks are determined with the differential global positioning system. When a missile is going to be launched, measurement of the azimuth and pitch of three landmarks with an optical sensor mounting on the top of the vehicle, the position and attitude of the vehicle can be determined via alternatively estimating the vertical and horizontal param- eters. The simulation results show that the proposed algorithm can converge to the correct solution more stably, comparing with other iter- ative algorithms, when they be used in a fiat area. The experimental results show that the precision of position, azimuth, pitch and roll are centimeters, 13 arc seconds, 25 arc seconds and 25 arc seconds, respectively.

关 键 词：光电探测器 地标 定位定向 导弹发射车 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TH745[自动化与计算机技术—计算机科学与技术]