An Integration Method of Inertial Navigation System and Three-Beam Lidar for the Precision Landing
Joint Authors
Zhang, Chunxi
Zhang, Xiaoyue
Liu, Pengbo
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-01-31
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Zhang, Xiaoyue& Liu, Pengbo& Zhang, Chunxi. 2016. An Integration Method of Inertial Navigation System and Three-Beam Lidar for the Precision Landing. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1112240
Modern Language Association (MLA)
Zhang, Xiaoyue…[et al.]. An Integration Method of Inertial Navigation System and Three-Beam Lidar for the Precision Landing. Mathematical Problems in Engineering No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1112240
American Medical Association (AMA)
Zhang, Xiaoyue& Liu, Pengbo& Zhang, Chunxi. An Integration Method of Inertial Navigation System and Three-Beam Lidar for the Precision Landing. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1112240
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112240