摘 要：分析了矿山水下轮式采煤车的定位定向导航的可实现问题。惯性导航组合系统是现代导航技术的发展重点。考虑到捷联惯性导航的自主性，采用捷联惯导组合系统实现对采煤车的定位导航。设计了捷联惯性导航和里程计组合的自主性水下导航系统。通过对该系统的实物应用试验，试验结果验证了此组合导航方案的有效性。
关键词：水下轮式采煤车；组合导航；里程计；捷联惯导系统
中图分类号：TN97文献标识码：A
文章编号：1004-373X(2009)03-111-03
Research of Integrated Navigation System Based on Strapdown Inertial Navigation System
LIU Lina，LIU Renqing
(Zhuzhou Professional Technology College,Zhuzhou,412001,China)
Abstract：The problems of under water navigation by mine roller tram are discussed.Inertial integrated navigation system is the development emphasis of modern navigation technology.Considering the request of independence and reliability of strapdown inertial navigation,mining vehicle is navigated by strapdown inertial integrated navigation system.Strapdown Inertial Navigation System/Odometer(SINS/OD) integrated navigation system is designed in this thesis.The results of dynamic experiment prove the efficiency of above integrated navigation system.
Keywords：under water roller mining vehicle;integrated navigation system;odometer;strapdown inertial navigation system
0 引 言
水下导航系统，其工作环境位于水下，不利于实现人为的控制，而且卫星信号在水下和地下往往无法接收到，且易受干扰，所以人和卫星信号都无法实现对其定位定向的要求。（剩余2081字）