Autonomous integrated navigation method based on the strapdown inertial navigation system and Lidar

摘要

An integrated navigation method based on the strapdown inertial navigation system (SINS) and Doppler Lidar was presented and its validity is demonstrated by practical experiments. A very effective and independent integrated navigation mode is realized that both an inertial navigation system (INS) and Lidar are not interfered with or screened by electromagnetic waves. In our work, the SINS error model was first introduced, and the velocity error model was transformed into body reference coordinates. Then the expression for measurement model of SINS/Lidar integrated navigation was deduced under Lidar reference coordinates. For application of land or vehicle navigation, the expression for the measurement model was simplified, and observation analysis was carried out. Finally, numerical simulation and vehicle test results were carried out to validate the availability and utility of the proposed SINS/Lidar integrated navigation method for land navigation.