惯性系统/激光测距仪组合定位技术研究  

Research on the Combined Positioning Technology of Inertial System/Laser Range Finder

作　　者：闫晶[1] 吴峻[1] 蒋晨瑶 

机构地区：[1]东南大学仪器科学与工程学院,江苏南京210096

出　　处：《测绘与空间地理信息》2016年第10期87-90,共4页Geomatics & Spatial Information Technology

基　　金：国土资源部公益性行业科研专项经费课题(201411012-02)资助

摘　　要：本文针对捷联惯性系统定位精度随误差积累而降低的情况,提出了一种基于惯性系统和激光测距仪的组合定位技术,并加以调平转位机构辅之。主要研究了捷联惯导系统静基座初始对准,分析了初始对准的精度,推导了激光测距仪载体坐标系到导航坐标系的坐标转换关系。最后,通过仿真和实施相关实验验证该定位技术。结果表明,此方法的测量误差较为稳定,误差大小在允许范围内,定位精度较高,具有一定的可行性。Aiming at the position accuracy of strap down inertial navigation system is decreased with the errors accumulation, a com- bined positioning technology based on inertial system and laser range finder, which is assisted by leveling and indexing mechanism, is proposed. The initial alignment of strap down inertial navigation system on static base is studied, and the precision of initial alignment is analyzed. Meanwhile, the coordinate transformation relation of the vector coordinate system of laser range finder to the navigation co- ordinate system is derived. Finally, the positioning technology is verified by simulation and related experiment. The results show that the measurement errors of this method are stable, and the errors are in the allowable range. In conclusion, the positioning accuracy is high, and the method is feasible.

关 键 词：惯性系统 激光测距仪 初始对准 坐标转换 测量误差 

分 类 号：P228.5[天文地球—大地测量学与测量工程]