An Integration Method of Inertial Navigation System and Three-Beam Lidar for the Precision Landing

作者：Xiaoyue Zhang, Pengbo Liu, Chunxi Zhang · 发表于：Mathematical Problems in Engineering · 年份：2016 · DOI：10.1155/2016/4892376 · 被引用次数：8 · 研究领域：Optical Systems and Laser Technology、Advanced Measurement and Detection Methods、Infrared Target Detection Methodologies

To ensure the high accuracy, independence, and reliability of the measurement system in the unmanned aerial vehicle (UAV) landing process, an integration method of inertial navigation system (INS) and the three-beam Lidar is proposed. The three beams of Lidar are, respectively, regarded as an independent sensor to integrate with INS according to the conception of multisensor fusion. Simultaneously, the fault-detection and reconstruction method is adopted to enhance the reliability and fault resistance. First the integration method is described. Then the strapdown inertial navigation system (SINS) error model is introduced and the measurement model of SINS/Lidar integrated navigation is deduced under Lidar reference coordinate. The fault-detection and reconstruction method is introduced. Finally, numerical simulation and vehicle test are carried out to demonstrate the validity and utility of the proposed method. The results indicate that the integration can obtain high precision navigation information and the system can effectively distinguish the faults and accomplish the reconstruction to guarantee the normal navigation when one or two beams of the Lidar malfunction.