基于电子地图和激光捷联惯组的运动基座初始对准方法

基于捷联惯导系统动基座初始对准对速度和路线要求较高,粗对准方位角失准过大影响精度等问题,提出引入电子地图对算法进行辅助修正的组合对准方法.通过地图匹配进行位置修正提高载车定位精度,最大限度减小第二次停车所带来的定位误差,提高对准精度.实验结果证明,动基座初始对准方法与电子地图匹配算法的有效组合,降低了对载车速度及路线的要求,极大提高了系统对准精度.

A Novel In-Motion Initial Alignment Method by Integration of Digital Map and Ring Laser Gyroscope SINS

Traditional in-motion initial alignment method for SINS based on inertial frame requires a relatively high precision in positioning during the alignment period, which put a strict limit on coarse alignment as well as the route and alignment time. Digital map was introduced into the in-motion alignment and a novel working mode was designed. With the aid of map-match algorithm, the initial positioning accuracy is greatly improved in any speed or route, which reduces the affect of misalignment angle from coarse alignment on positioning. Road tests results have shown that the integration of digital map and ring laser gyroscope SINS has eliminate the requirements of speed and route for land vehicles. It not only enhances the mobility of land vehicle but also improves the accuracy of initial alignment of inertial navigation system, and is meaningful in real application.