Design of SINS/LDV/OD autonomous positioning system based on carrier constraints

Aiming at the problem of vehicle positioning orientation technology in actual combat background, this paper studies the autonomous positioning system of SINS/LDV/OD, and designs the LDV/SINS and OD/SINS subfilters of the union kalman filter and the main filter of the autonomous positioning system. Based on the characteristics of the fault of the subfilter, the fault tolerant scheme of the autonomous positioning system was designed, and the 50Km roadster test was finally carried out. The longitude error is not more than 20m, the latitude is less than 20m, and the height error is not over 10 meters. The experimental results show that the design scheme is effective and can meet the actual operational requirements.