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定位定向系统是能为栽体提供精确地理位置坐标、指北方向和姿态角的导航系统,通常用于舰船、飞机、车辆等功能平台,为平台上的设备提供准确的位置和姿态参考信息。本文针对车载平台机动性高的特点,设计能够实现运动中对准的快速定位定向系统,开展捷联惯导数字递推算法、航位推算、多源信息组合导航、动基座对准算法、系统免标定、误差补偿等算法和技术研究。最后,开展静态对准、静态导航和动态车载实验研究。实验结果表明,动态对准时间小于5min,对准姿态精度小于1mil,方位保持精度小于1 mil/2h,横滚角、俯仰角保持精度小于0.5mil/2h,里程计/惯导组合水平定位精度小于0.15%D,卫星/惯导组合水平定位精度小于10m。
Positioning and orientation system is a navigation system that can provide accurate geographical coordinates for the planting body and refers to the north direction and attitude angle. It is usually used for functional platforms such as ships, aircraft and vehicles to provide accurate position and attitude for the equipment on the platform. . Aiming at the high maneuverability of vehicle platform, this paper designs a rapid positioning and orientation system that can achieve alignment in motion, and carries out the numerical recursion algorithm of SINS, dead reckoning, multi-source information integrated navigation, moving base alignment algorithm, System calibration, error compensation algorithm and technology research. Finally, carry out static alignment, static navigation and dynamic vehicle-mounted experimental research. Experimental results show that the dynamic alignment time is less than 5min, the alignment accuracy is less than 1mil, the bearing holding accuracy is less than 1mil / 2h, the roll angle and pitch angle holding accuracy is less than 0.5mil / 2h, the odometer / INS combination level positioning accuracy Less than 0.15% D, satellite / INS combination horizontal positioning accuracy of less than 10m.