The accuracy and reliability of train positioning are crucial for ensuring safe train operation. Currently, inertial navigation systems are widely used in various autonomous navigation fields. However, inertial navigation suffers from the problem of error divergence over time. Therefore, to compensate for the drawbacks of inertial navigation systems, combined navigation has become a development trend in inertial navigation technology. Combined navigation using inertial navigation and laser velocimetry is a high-precision positioning solution. However, it still faces the challenge of error accumulation. Considering the requirements of real-time performance, high precision, and immunity to external environmental interference in train positioning, this paper introduces geomagnetic navigation into the combination of inertial navigation and laser velocimetry. This approach aims to solve the problem of error accumulation and further improve the accuracy of combined navigation. The proposed method is validated through onboard combined navigation experiments.
In solving the problem of random launch of long-distance and high-precision strategic missile trains, the passive autonomous navigation mode dominated by inertial navigation (INS) shows its unique advantages, but the Inertial navigation system has the problem that the accumulated error cannot be eliminated, which cannot meet the practical application requirements, and needs to be assisted by other navigation means. As a passive and fully autonomous navigation system, geomagnetic navigation has the advantages of low cost, anti-interference, all region, small size, and no accumulated error, which can effectively compensate for the shortcomings of other current navigation systems. In this paper, we introduce high-precision laser Doppler velocimeter (LDV) and geomagnetic sensor into the integrated system, and propose a geomagnetic sensor assisted INS/LDV integrated positioning scheme. On the basis of INS/LDV integration, we design INS/LDV/geomagnetic sensor integrated navigation system and algorithm, correct the error of NS/LDV integrated navigation system, and further improve the integrated navigation positioning accuracy.
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