快速定位定向系统设计及车载实验研究

摘要

Position and azimuth determining system (PADS) are systems providing accurate geographical coordinate,azimuth and attitude information for vehicle.The PADS is usually mounted on warship,airplane,vehicle,adopted as position and attitude reference standards.To enhance the vehicle weapon platform's fast reaction ability,this paper designed a PADS which carries out initial alignment in moving mode.A set of strapdown inertial navigation system (SINS) algorithms,high accuracy dead reckoning (DR) algorithms,multi-source integrated navigation algorithms,initial alignment algorithms in moving base,calibration free algorithms and error compensation algorithms are studied in this paper.Static and field test results show the flowing performances:initial alignment time cast in moving base is less than 5 minutes,initial alignment attitude accuracy and azimuth holding accuracy are prior to 1 mil,pitch and roll attitude accuracy are 0.5 mil per 2 hours,horizontal position errors of SINS/DR integrated system are below 0.15％D,where D is the total mileage,horizontal position errors of SINS/GNSS integrated system are below 10 meters.%定位定向系统是能为载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1mil/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.