陆用定位定向系统自主导航技术

Autonomous Navigation Technology of Land Orientation and Location System

关键词:  无依托发射  自主导航  旋转调制  罗经效应  地图匹配

Key words:  Unsupported launching  Autonomous navigation  Rotation modulation  Compass effect  Map matching

摘要:

由于车载自主导航精度受作战半径影响，长航时使用需要一定的保障条件，难于实现无依托发射的问题，提出了一种定向精度不受导航时间影响、定位精度不受作战半径影响的自主导航方案。通过分析惯性旋转调制导航、惯性/里程计组合原理及误差特性，采用罗经效应原理实现了高精度长航时自主定向；通过旋转调制导航抵消惯性器件误差的影响，利用航位推算隔离载体加速度和速度对罗经效应的影响，使航向误差完全可观，提升实时估计与修正精度。在此基础上引入了地图匹配技术进行自主定位，解决陆用定位精度与行驶里程相关的问题。仿真和试验结果表明，该技术采用地图信息辅助定位定向系统进行自主导航，在较低保障要求下，能够解决定向、定位误差积累问题，具有较强的理论意义和工程实用价值。

Abstract:

As autonomous navigation accuracy of vehicle launching system is affected by combat radius, it is difficult to realize independent and unsupported launching for long endurance and large operational radius situation.In view of the above problems, a fully autonomous navigation scheme, in which the orientation accuracy is not affected by the navigation time and the positioning accuracy is not affected by the operational radius, is proposed.First, by analyzing the principle and error characteristics of inertial rotation modulation navigation and Inertial / mileage integrated navigation, the principle of compass effect is used to achieve high precision and long time independent orientation.Then, the influence of inertial device errors is eliminated by rotationally modulated navigation, and the influence of acceleration and speed of isolation carrier on gyrocompass effect is estimated by dead reckoning, which makes the heading error completely observable and improves the accuracy of real-time estima-tion and correction.On this basis, map matching technology is introduced to solve the problem of land positioning accuracy and mileage.Simulation and experimental results show that the technology proposed can use autonomous navigation information to solve the error accumulation problems of orientation and location without any external information or support, which has strong theoretical significance and practical engineering value.