One-dimensional reference-beam LDV for accurate altitude estimation in a land vehicle

In order to provide accurate altitude information autonomously for land navigation, a self-developed one-dimensional reference-beam laser Doppler velocimeter (1D LDV) with light weight, small volume, and low cost is integrated with a strapdown inertial navigation system (SINS). The velocity sensed by the 1D LDV and the altitude output by the SINS are fused by the dead reckoning algorithm. Dynamic vehicle tests are carried out in an urban area with the altitude difference of 28 m and a mountainous area with the altitude difference of 1363 m. The horizontal positioning error and the altitude error are 10.8 m and 0.5 m in the urban area and 45.9 m and 3.6 m in the mountainous area. The experimental results illustrate that the developed SINS/1D LDV integrated navigation system is viable to provide highly accurate altitude as well as horizontal parameters in practical application. (C) 2020 Optical Society of America