地面无人作战平台导航技术发展现状与趋势

当前，国内外地面无人作战平台处于快速发展阶段，其自主性、智能性的特点使得其相较于传统地面武器平台对导航系统提出了更高的要求，除了具备常规意义上的测姿、定位、定向等功能之外，还需要具备环境相对位姿感知与导航能力。目前，典型的地面无人平台均采用惯性基组合导航方案，以惯性传感器为主，配备卫星、视觉、雷达等多类辅助传感器，通过组合导航算法实现传感器间的有机融合。针对地面无人作战平台的导航需求，对当前主流惯性基组合导航技术进行梳理，分别介绍了惯性/里程计、惯性/卫星、惯性/视觉、惯性/激光雷达组合导航技术的发展现状，并对适用于地面无人作战平台的导航技术进行了展望。

Review of INS-based Navigation Technology for Ground Unmanned Platforms

With the rapid development of military ground unmanned platform(GUP) technology, demands for better navigation systems for features such as high autonomy and intelligence are improved significantly. Apart from typical positioning and orientation determination, the ability of environmental sensation is especially needed. By equipping various sensors, the importance of INS based multi-sensor fusion technology is elevated. In this paper, the main INS-based navigation methods are studied and sorted out based on the requirement of GUPs. Basic principles and state of the art of INS/odometer, INS/visual, INS/lidar integrated navigation technologies are introduced respectively. The development trends of those navigation technologies that are suitable for GUPs are prospected.