Autonomous integrated navigation method based on the strapdown inertial navigation system and Lidar

Xiaoyue Zhang; Zhili Lin; Chunxi Zhang

doi:10.1117/1.OE.53.7.074112

24 July 2014 Autonomous integrated navigation method based on the strapdown inertial navigation system and Lidar

Xiaoyue Zhang, Zhili Lin, Chunxi Zhang

Author Affiliations +

Optical Engineering, Vol. 53, Issue 7, 074112 (July 2014). https://doi.org/10.1117/1.OE.53.7.074112

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.

Citation Download Citation

Xiaoyue Zhang, Zhili Lin, and Chunxi Zhang "Autonomous integrated navigation method based on the strapdown inertial navigation system and Lidar," Optical Engineering 53(7), 074112 (24 July 2014). https://doi.org/10.1117/1.OE.53.7.074112

Published: 24 July 2014

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available