Research on a positioning correction method with inertial measurement in combination with distance

Aiming at the characteristics that stand-alone inertial navigation system has high short-term accuracy but poor long-term accuracy, a positioning scheme combining inertial navigation system with distance information is proposed. Utilizing the distance information measured by laser ranging or other methods from multiple carriers to a known point and the mutual distances among the carriers, and with the help of the positioning parameters given by the inertial navigation system, a set of equations is established according to the space geometrical relationship. By solving the equations the corrected positioning information of the carriers is obtained. The combination principle of the scheme is introduced in detail, and the positioning error is deduced in theory and analyzed with semi-physical simulation, the results show that the proposed scheme can significantly improve the positioning accuracy of inertial navigation system when the carriers move to certain positions initiatively.