地面无人作战平台导航技术发展现状与趋势

doi:10.3969/j.issn.1674-5558.2020.h4.012

导航与控制 ›› 2020, Vol. 19 ›› Issue (4/5): 96-110.doi: 10.3969/j.issn.1674-5558.2020.h4.012

地面无人作战平台导航技术发展现状与趋势

韩勇强¹, 李利华¹, 陈家斌¹, 吴限¹, 李磊磊¹, 李蓉²

1.北京理工大学自动化学院,北京 100081;
2.中国人民解放军85894部队,北京 102211

收稿日期:2020-03-16 出版日期:2020-10-05 发布日期:2020-12-22
通讯作者: 陈家斌,男,1964年生,上海交通大学惯性技术及导航设备专业博士,南京航空航天大学飞行导航制导与控制专业博士后,北京理工大学自动化学院教授,中国人民解放军装备发展部惯性技术专家组成员,承担了10余个重要型号项目的研制与生产,承担装发预研、基金、863等国家重要科研课题20余项。在国内外核心刊物和学术会议上发表论文100余篇,与他人合编了《光电惯性技术》《兵器科学技术总论》等,研究方向为陆用定位定向系统技术、智能无人系统导航技术等(为本文通信作者,E-mail:chenjiabin@bit.edu.cn)。
作者简介:韩勇强,男,1983年生,2012年获北京理工大学导航、制导与控制专业博士学位,研究方向为跨平台自主导航、多源信息融合技术等,现为北京理工大学自动化学院副研究员。近年来承担装发预研、基金、重大专项、国家重点研发计划等各类课题7项,在国内外核心刊物和学术会议上发表论文30余篇,授权发明专利5项,相关成果在多个型号装备获得广泛应用。任《中国惯性技术学报》编委、《无人系统技术》青年编委。
基金资助:
国家重大专项(编号:GFZX0403260302);装发“十三五”预先研究(编号:41417070103,41417050102)

Review of INS-based Navigation Technology for Ground Unmanned Platforms

HAN Yong-qiang¹, LI Li-hua¹, CHEN Jia-bin¹, WU Xian¹, LI Lei-lei¹, LI Rong²

1. School of Automation , Beijing Institute of Technology, Beijing 100081;
2. 85894 PLA Troops, Beijing 102211

Received:2020-03-16 Online:2020-10-05 Published:2020-12-22

摘要/Abstract

摘要： 当前,国内外地面无人作战平台处于快速发展阶段,其自主性、智能性的特点使得其相较于传统地面武器平台对导航系统提出了更高的要求,除了具备常规意义上的测姿、定位、定向等功能之外,还需要具备环境相对位姿感知与导航能力。目前,典型的地面无人平台均采用惯性基组合导航方案,以惯性传感器为主,配备卫星、视觉、雷达等多类辅助传感器,通过组合导航算法实现传感器间的有机融合。针对地面无人作战平台的导航需求,对当前主流惯性基组合导航技术进行梳理,分别介绍了惯性/里程计、惯性/卫星、惯性/视觉、惯性/激光雷达组合导航技术的发展现状,并对适用于地面无人作战平台的导航技术进行了展望。

关键词: 惯性基, 组合导航, 同步定位与建图, 协同导航, 仿生导航

Abstract: With the rapid development of military ground unmanned platform(GUP) technology, demands for better navigation systems for features such as high autonomy and intelligence are improved significantly. Apart from typical positioning and orientation determination, the ability of environmental sensation is especially needed. By equipping various sensors, the importance of INS based multi-sensor fusion technology is elevated. In this paper, the main INS-based navigation methods are studied and sorted out based on the requirement of GUPs. Basic principles and state of the art of INS/odometer, INS/visual, INS/lidar integrated navigation technologies are introduced respectively. The development trends of those navigation technologies that are suitable for GUPs are prospected.

Key words: INS-based, integrated navigation, simultaneous localization and mapping(SLAM), cooperative navigation, bionic navigation

中图分类号:

TP29

韩勇强, 李利华, 陈家斌, 吴限, 李磊磊, 李蓉. 地面无人作战平台导航技术发展现状与趋势[J]. 导航与控制, 2020, 19(4/5): 96-110.

HAN Yong-qiang, LI Li-hua, CHEN Jia-bin, WU Xian, LI Lei-lei, LI Rong. Review of INS-based Navigation Technology for Ground Unmanned Platforms[J]. Navigation and Control, 2020, 19(4/5): 96-110.

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地面无人作战平台导航技术发展现状与趋势

Review of INS-based Navigation Technology for Ground Unmanned Platforms

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