一种新的对地定位方法及其精度分析与仿真

提出一种新的无人空中载体对地定位方法。该方法根据GPS／INS组合导航系统测量的载体坐标与姿态角、光轴稳定平台相对于载体的姿态角以及激光测距数据，计算地面目标点的三维维坐标，克服了共线条件方程对地形鲁棒性差和DEM迭代定位算法容易发散的缺点。为分析此方法的定位性能，给出了定位误差分析模型，并通过仿真算例验证了该定位方法的有效性，仿真结果表明目标定位精度满足舰炮作战要求。

New Approach for Ground Target Location with Precision Analysis and Simulation

A new approach was proposed to locate ground target with unmanned aerial vehicle. The new approach computed the three-dimension coordinates of ground target according to the pose angles of carrier, pose angles of the stabilization platform of the optical axis, and the ranging data from laser ranger, The shortcomings of collinearity equations were overcome based methods which were not robust to terrain. The divergence of DEM iteration was avoided. Mathematical model for precision analysis was formulated to evaluate the performance of the presented approach. A simulation example was given to test the effectiveness of the method. The simulation result shows that the location accuracy can satisfy the needs of combat with ship-borne guns.