基于地标信息的车载惯导姿态修正技术

惯导与速率计构成的组合系统是机动作战车辆较常使用的自主定位定向系统，其惯导姿态精度将直接影响组合定位精度。文章利用车辆运动途中的地标信息，讨论了车载惯导姿态误差估计与修正技术，通过仿真分析了地标位置与车辆零速信息在惯导姿态修正过程中的作用。结果表明：利用地标信息是进行车载惯导姿态修正较为实用的途径，在此基础上可以有效提高车载惯导／速率计组合定位系统的精度。

Vehicle Inertial Navigation System Attitude Correction Technology Based on Landmark Information

The integrated system composed of inertial navigation system （INS） and speedometer is an independent positioning system commonly used on maneuver combat vehicles. The INS attitude accuracy will affect the integrated positioning accuracy directly. The INS attitude error estimation and correction technique based on landmark information was studied, and the function of landmark position and vehicle zero-speed information to the INS attitude correction was analyzed with simulation. Results showed that the method was an effective way to correct the vehicle INS attitude parameters with landmark information, and could improve the precision of the INS/speedometer integrated positioning system.