严恭敏_博士学位论文

论文中采用激光陀螺捷联惯导系统为主导航系统，通过与里程计和气压高度计组合，构成车载自主定位定向系统，并借助路标点进行误差补偿。该定位定向系统不依靠 GPS，中途无须停车作零速修正，是一种全自主的导航系统，具有定位定向精度高、机动性好、可靠性高和寿命长等优点。 -In this thesis, laser gyro strapdown inertial navigation system (SINS)

is selected as core navigation system, and integrated navigation system

is developed by integrating SINS with odometer and altimeter. In some

special environment, land mark is used to implement error compensation.

The PADS presented is entirely autonomous, not reliable to GPS　and ZUPT, and the system has high accuracy, fast reaction and high reliability.