The invention discloses a low-altitude flight carrier navigation method and system. The method comprises the following steps: acquiring a first measurement speed output by an MEMS inertial navigation system and a second measurement speed output by a laser Doppler velocimeter; constructing a Kalman filter by taking a difference value between the first measurement speed and the second measurement speed as an observed quantity; filtering is carried out based on a Kalman filter, feedback correction is carried out on the MEMS inertial navigation system and the laser Doppler velocimeter, and a positioning result of the low-altitude flight carrier is obtained; wherein in the process of measuring the second measurement speed by the laser Doppler velocimeter, the measurement light beam is modulated into pulse measurement light, so that the measurement of the speed in the distance from the hectometer magnitude to the kilometer magnitude is realized. The method is applied to the field of navigation, can enable unmanned aerial vehicles and other low-altitude flight carriers to carry out autonomous navigation, and can also obtain high-precision navigation information in a GNSS denial environment.
本发明公开了一种低空飞行载体导航方法及系统,该方法包括获取MEMS惯导系统输出的第一测量速度以及激光多普勒测速仪输出的第二测量速度;以第一测量速度与第二测量速度之间的差值为观测量构建卡尔曼滤波器;基于卡尔曼滤波器进行滤波,对MEMS惯导系统、激光多普勒测速仪进行反馈校正,得到低空飞行载体的定位结果;其中,在所述激光多普勒测速仪测得所述第二测量速度的过程中,将测量光束调制成脉冲测量光,以实现百米量级至公里量级距离上速度的测量。本发明应用于导航领域,可以使无人机等低空飞行载体进行自主导航,在GNSS拒止的环境中,也可以获取高精度的导航信息。
Low-altitude flight carrier navigation method and system
一种低空飞行载体导航方法及系统
2023-04-18
Patent
Electronic Resource
Chinese
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