基于二维激光多普勒测速仪的车载组合导航系统

为了减小由车式载体上下颠簸而引入的测量误差，设计了二维结构的激光多普勒测速仪2-D LDV（laser Doppler velocimeter），并将其与捷联惯导组合导航。阐述了二维激光多普勒测速技术的基本原理，详细讨论了其与捷联惯导组合的具体结构并进行了车载实验。理论和实验结果表明:2-D LDV减小了由于车辆上下颠簸而引入的测量误差，进一步提高了导航精度。车辆行驶总里程为29.67 km，纯捷联惯导的位置误差为936 m，1-D LDV/SINS组合系统的位置误差17.2 m，而2-D LDV/SINS组合系统的位置误差仅有7.1 m，相对于1-D LDV/SINS，2-D LDV/SINS更适合于车载组合导航系统。

Vehicle integrated navigation system based on two dimensional laser Doppler velocimeter

In order to reduce the measurement error because of the jolting of the vehicle, a novel two dimensional laser Doppler velocimeter (2-D LDV) was presented. And an idea of building an integrated navigation using 2-D LDV together with strapdown inertial navigation system (SINS) was proposed. The basic principle of 2-D LDV was expounded and the specific structure of the system using 2-D LDV together with SINS was discussed in detail. The result of theory and experiment show that the 2-D LDV reduces the measurement error because of the jolting of the vehicle, which has greatly improved the positional accuracy of the navigation system. The position error has been decreased from 936 m with pure SINS to 17.2 m with the 1-D LDV/SINS integrated system to 7.1 m with the 2-D LDV/SINS integrated system for the total distance of 29.67 km. 2-D LDV is more suitable for the vehicle integrated navigation system relative to the 1-D LDV.