Abstract
In order to realize maneuver combat in the modern warfare, some special military vehicles require the ability of determining their position and orientation rapidly and accurately, and the position and orientation system should be highly autonomous and have strong anti-jamming capability. So a high-accuracy independent position and orientation method for vehicles that utilizes strapdown inertial navigation system/Doppler radar is presented in this article. Laser gyroscopes in strapdown inertial navigation system and Doppler radar are adopted to develop a dead-reckoning system for vehicles. Subsequently, the attitude, velocity,and position-updating algorithms of dead-reckoning system are designed. The error sources of dead-reckoning system are analyzed to establish the system error model, including the attitude error equations of the mathematical platform, velocity error equations, and position error equations. The errors of strapdown inertial navigation system and deadreckoning system are selected as system states of the integrated position and orientation method. The difference between the attitude output of strapdown inertial navigation system and that of dead-reckoning system, and the difference between the position output of strapdown inertial navigation system and that of dead-reckoning system are chosen as the measurements of integrated position and orientation. Then, Kalman filter is adopted to design the filtering algorithm of integrated position and orientation. In the end, the integrated position and orientation method is validated by simulation experiment and vehicular experiment. The experimental results show that strapdown inertial navigation system/Doppler radar integration can realize accurate positioning and orientation for a long time, and the accuracy of attitude/position integration mode is significantly higher than that of velocity/position integration mode. Therefore, the former integration mode is more suitable for accurate position and orientation for vehicles.
Highlights
Some special military vehicles, such as command vehicles, launcher vehicles, and armored vehicles, require the ability of determining their position and orientation rapidly and accurately, so as to realize maneuver combat in the modern warfare.[1,2] The position and orientation system should be highly autonomous and have strong anti-jamming capability in a combat environment.The inertial navigation system (INS), which is a known type of autonomous navigation system with strong anti-jamming ability, is well suited for military purposes
The errors of the position and orientation obviously do not diverge with time, and higher accuracy is achieved. These results prove that when the Doppler radar is used to assist strapdown inertial navigation system (SINS) to achieve integrated position and orientation, the divergence problem of SINS errors can be effectively solved
A high-accuracy position and orientation method are presented in this paper, which has strong anti-jamming ability and good autonomy by adopting SINS and Doppler radar to determine the position and orientation of the vehicle
Summary
Some special military vehicles, such as command vehicles, launcher vehicles, and armored vehicles, require the ability of determining their position and orientation rapidly and accurately, so as to realize maneuver combat in the modern warfare.[1,2] The position and orientation system should be highly autonomous and have strong anti-jamming capability in a combat environment.The inertial navigation system (INS), which is a known type of autonomous navigation system with strong anti-jamming ability, is well suited for military purposes. Considering the scale factor error of the Doppler radar, the measured vehicle velocity in the navigation frame is Attitude error equations of DRS mathematical platform
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