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针对传统航位推算算法中里程计俯仰安装误差角难以精确辨识,以及高程通道定位精度较差等问题,提出利用高度计作为辅助手段的激光捷联惯导/航位推算/高度计组合导航算法,并设计了高程通道的滤波模型。该算法基于Kalman滤波最优估计理论,利用气压高度计量测信息对SINS/DR组合系统高程通道进行估计补偿,以达到高程通道精确定位的目的。试验表明,经高度阻尼后系统高程定位精度达到3m。
Aiming at the difficulty in accurately identifying the pitch angle error of the odometer in the traditional dead reckoning algorithm and the poor positioning accuracy of the elevation path, a combined navigation algorithm of laser strapdown inertial navigation / dead reckoning / altimeter with altimeter is proposed. The filter model of elevation channel is designed. Based on the Kalman filter optimal estimation theory, this algorithm uses the barometric altimetry information to estimate and compensate the elevation channel of SINS / DR combination system, so as to achieve the precise positioning of the elevation channel. Experiments show that the height of the system after a high damping accuracy of 3m.