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Optical Engineering

Autonomous integrated navigation method based on the strapdown inertial navigation system and Lidar
Author(s): Xiaoyue Zhang; Zhili Lin; Chunxi Zhang
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Paper Abstract

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.

Paper Details

Date Published: 24 July 2014
PDF: 10 pages
Opt. Eng. 53(7) 074112 doi: 10.1117/1.OE.53.7.074112
Published in: Optical Engineering Volume 53, Issue 7
Show Author Affiliations
Xiaoyue Zhang, BeiHang Univ. (China)
Zhili Lin, BeiHang Univ. (China)
Chunxi Zhang, BeiHang Univ. (China)


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