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Research on the Rapid and Accurate Positioning and Orientation Approach for Land Missile-Launching Vehicle

机译：陆空导弹发射车快速准确的定位定向方法研究

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Getting a land vehicle’s accurate position, azimuth and attitude rapidly is significant for vehicle based weapons’ combat effectiveness. In this paper, a new approach to acquire vehicle’s accurate position and orientation is proposed. It uses biaxial optical detection platform (BODP) to aim at and lock in no less than three pre-set cooperative targets, whose accurate positions are measured beforehand. Then, it calculates the vehicle’s accurate position, azimuth and attitudes by the rough position and orientation provided by vehicle based navigation systems and no less than three couples of azimuth and pitch angles measured by BODP. The proposed approach does not depend on Global Navigation Satellite System (GNSS), thus it is autonomous and difficult to interfere. Meanwhile, it only needs a rough position and orientation as algorithm’s iterative initial value, consequently, it does not have high performance requirement for Inertial Navigation System (INS), odometer and other vehicle based navigation systems, even in high precise applications. This paper described the system’s working procedure, presented theoretical deviation of the algorithm, and then verified its effectiveness through simulation and vehicle experiments. The simulation and experimental results indicate that the proposed approach can achieve positioning and orientation accuracy of 0.2 m and 20″ respectively in less than 3 min.
机译：快速获得陆上车辆的准确位置，方位角和姿态对于车载武器的战斗力至关重要。本文提出了一种获取车辆准确位置和方向的新方法。它使用双轴光学检测平台（BODP）瞄准并锁定不少于三个预设的协作目标，这些目标的事先精确测量。然后，它通过基于车辆的导航系统提供的大致位置和方向，以及BODP测量的三对方位角和俯仰角，计算出车辆的准确位置，方位角和姿态。所提出的方法不依赖于全球导航卫星系统（GNSS），因此它是自主的并且难以干扰。同时，它只需要一个粗略的位置和方向作为算法的迭代初始值，因此，即使在高精度应用中，它对惯性导航系统（INS），里程表和其他基于车辆的导航系统也没有很高的性能要求。本文介绍了该系统的工作过程，介绍了该算法的理论偏差，然后通过仿真和车辆实验验证了其有效性。仿真和实验结果表明，所提出的方法在不到3分钟的时间内可以分别实现0.2 m和20英寸的定位和定向精度。

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