A set of counter-balanced dither mechanism for Ring Laser Gyroscope (RLG) has been designed to reduce the influence of lock-in of RLG. Designed dither frequency is 344.16Hz. By Finite Element Methodology (FEM) calculation, it js proved that the mechanism mode is reasonable and the strength requirements of the mechanism's material are satisfied. The error between the actual dither frequency, 316Hz, and the designed is less than 8.2%. In 30 minutes, the stability of dither frequency and amplitude (RMS value) are less than 0.05% and 5% respectively. The horizontal direction of the mechanism is much easier to be influenced by base vibration than the vertical one, but the readout signal is still good for application.

An inertia navigation system (INS) must be regulated with aided information for its long-time precision navigation. In the paper, the local geographic information entropy as an aided information is used to correct the INS error. The minimum variance matching algorithm is designed and simulated with MATLAB. As a result, geo-information is hardly interfered by the “outer world” as an aided navigation model autonomously or semi-autonomously.

GpsOne, which fuses GPS and wireless base station positioning signals, is a hybrid wireless assisted GPS technology proposed by Qualcomm Inc. It provides positioning service through wireless communication networks. Compared with GPS, gpsOne is more suitable for vehicle navigation due to its wider workable regions (urban, rural and even underground areas), higher positioning accuracy, lower price and no cold start. However, single gpsOne cannot be used for vehicle navigation due to its large positioning error (more than 100m) when GPS signals cannot be received completely. Therefore, gpsOne should be assisted with other positioning modes to promote the reliability, redundancy and fault-tolerance of vehicle navigation system.

Proper selection of dither amplitude and frequency of RLG influences the effect of dither bias directly. In order to reduce lock-in of RLG effectively, the width of dynamic lock-in is obtained by deducing the basic input-output equation of RLG in the article. Corresponding optimization model is based on the purpose of reducing the influence of dynamic lock in. The result of the optimization shows that it is necessary to enlarge dither depth to reduce the nonlinear influence. When dither depth is large enough, there is no evident effect on the reduction of dynamic lock-in by enlarging it further. However, dynamic lock-in may be reduced to zero by modulating dither depth locally with very small value according to the result of optimization. Some constructive conclusions are obtained in the end of the article.

coarse and the accurate. The coarse matching rules include mean absolute difference (MAD) and mean square difference (MSD) which is usually applied in terrain contour matching (TERCOM). The accurate matching is the ICCP optimization. Simulation results show that the updated ICCP matches application conditions very well and it is convergent with very high precision. Especially, when INS precision is not high, the updated ICCP matching process is more stable and its precision is higher than TERCOM’s.

Although the effect of lock-in in Ring Laser Gyroscope (RLG) can be reduced sharply by introducing mechanical dither into the input of RLG, there is still much large RLG readout error, which is unacceptable for medium/high-precision inertial navigation, due to the appearance of dynamic lock-ins. Superimposing noise on periodic dither signal can reduce the influence of dynamic lock-ins further. The relationships of RLG output’s deviation from mean and dispersion coefficient with noise intensity are analyzed with the inputs of both single noise and compound dither (periodic dither superimposed with noise), respectively. The results show that single noise is less practical than compound dither.

高速摄像是研究瞬间发生的物理和化学现象的重要手段之一。针对碰撞过程，提出了应用低成本CMOS阵列式成像传感器构建高速摄像系统。成像阵列由16个可更换的CMOS单元组成，接在主板上。为了进行同步控制，实验研究了CMOS传感器的工作时序；通过延时器，使阵列式火花源分时闪光，并在CMOS快门打开的时间段内完成。实验表明，该系统可以实现对碰撞等瞬间发生过程的拍摄，为相关研究提供基础。

对紧耦合方案、最优估计滤波算法和硬件开发等几方面进行了总结分析。分析了传统的INS/GPS松组合系统和INS/GPS紧耦合系统的区别；给出了INS/GPS紧耦合系统国内外的发展状况；指出INS/GPS紧耦合系统所涉及的关键技术。

抖动参数的正确选择直接影响抖动偏频效果。为了有效地进行抖动偏频，抖动角速度幅度应远大于RLG的闭锁阀值。当抖动角幅度增大至一定值后，再增大抖动角幅度对抖动偏频效果影响不大，而局部调整抖动角幅度却可能使动态锁区降为0，实现完全解锁。同时抖动角幅度的对称性控制对减小由抖动而产生的偏置误差具有重要的意义。为了适应高速数字采集和处理，抖动频率应尽可能地提高。

针对机抖式激光陀螺基础振动对测量精度影响相当严重的问题，通过理论推导和分析，并考虑实际应用中可能会带来的问题，提出了一种机抖式激光陀螺基础振动消除的原理。通过不同参数的选择，指出抖动参数的合理选择可使基础抖动力更小，重量更轻，并且易于加工，有利于系统的小型化。