北京航空航天大学学报 ›› 2010, Vol. 36 ›› Issue (5): 606-609.

• 论文 • 上一篇    下一篇

SINS辅助GPS跟踪环路超紧耦合系统设计

  

  1. (北京航空航天大学 宇航学院, 北京 100191)
  • 收稿日期:2009-06-10 出版日期:2010-05-30 发布日期:2010-06-07
  • 作者简介:于洁(1985-),女,山东威海人,硕士生,2104yu@163.com.
  • 基金资助:

    航空科学基金资助项目(20090151004)

Ultra-tightly coupled navigation system design based on SINS aiding GPS tracking loops

  • Received:2009-06-10 Online:2010-05-30 Published:2010-06-07

摘要: 为了提高GPS(Global Positioning System)在高动态条件下的跟踪性能并为SINS(Strapdown Inertial Navigation System)提供精确、可靠的修正信息,提出了一种SINS辅助GPS超紧耦合导航方案.针对高动态条件下载波跟踪性能不佳的问题,利用SINS速度信息为载波环提供多普勒频率辅助,从而降低了载体动态对载波环的影响.此外,将载波环跟踪误差扩充为组合系统的状态变量,并建立了载波环跟踪误差、伪距率量测误差与惯导误差之间的关系模型,从而消除了引入SINS辅助信息导致的量测相关问题.仿真验证表明:超紧耦合系统不仅能够有效地提高跟踪环路的噪声抑制能力和动态跟踪性能,而且可以显著地改善组合滤波器的误差估计精度.

Abstract: In order to improve the tracking performance of global positioning system (GPS) in high dynamic environment and provide reliable calibration information for strapdown inertial navigation system (SINS), the scheme of SINS aiding GPS ultratightly coupled navigation was presented. Considering  the poor tracking performance of the carrier phase lock loop (PLL) in high dynamic applications, Doppler frequency derived from SINS parameters was provided for PLL, and so the effect of vehicle dynamics on PLL was decreased. Additionally, in order to eliminate the measurement correlation caused by introducing SINS aiding information, the relationships between PLL errors and SINS errors have been established and PLL errors were appended to the system state vector. Finally, the simulations indicate the ultra-tightly coupled system can not only enhance the antijamming capability and the dynamic tracking performance of the tracking loops effectively, but also improve the error estimating precision of the integrated Kalman filter significantly.

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