激光多普勒三维导航系统方案

为解决激光多普勒测速仪在三维导航应用中存在的问题，对飞行器在平飞、转弯2种状态下的激光多普勒测速问题进行了研究。与现有研究文献中将载体姿态变化视为误差量的研究思路不同，笔者将飞行器姿态角视为拟求取的状态量，利用多普勒频移理论建立了相应的激光多普勒导航状态方程，再通过推导得到了飞行器的速度和姿态解算公式，实现了飞行器在平飞、转弯2种状态下的导航状态解算。仿真结果表明：飞行器的真实值与估计值基本吻合，充分验证该方法的正确性和有效性。

Laser Doppler 3D Navigation System Scheme

In order to solve existing bottleneck of laser Doppler velocimeter (LDV) in the 3D navigation application, study on the laser Doppler velocity measure problem of aircraft flying in horizontal and turning mode. We treat the attitude angles of aircraft as unknown variables to resolve, which is quite different from the way considering attitude angles as error factors in existing references. Using Doppler’s frequency shift theory, the corresponding laser Doppler navigation equations were established, the equation to compute velocity and attitude of aircraft was obtained by deduce, thus the navigating calculation of aircraft in horizontal and turning mode was realized. The simulation results verified the correctness and effectiveness of our method which the aircraft real value is basically meet the estimation value.