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�������պ����ѧѧ�� 2010, Vol. 36 Issue (5) :606-609    DOI:
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Ultra-tightly coupled navigation system design based on SINS aiding GPS tracking loops

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Ϊ�����GPS(Global Positioning System)�ڸ߶�̬�����µĸ������ܲ�ΪSINS(Strapdown Inertial Navigation System)�ṩ��ȷ���ɿ���������Ϣ�������һ��SINS����GPS������ϵ�������.��Ը߶�̬�������ز��������ܲ��ѵ����⣬����SINS�ٶ���ϢΪ�ز����ṩ������Ƶ�ʸ������Ӷ����������嶯̬���ز�����Ӱ��.���⣬���ز��������������Ϊ���ϵͳ��״̬���������������ز���������α�������������ߵ����֮��Ĺ�ϵģ�ͣ��Ӷ�����������SINS������Ϣ���µ������������.������֤����:�������ϵͳ�����ܹ���Ч����߸��ٻ�·���������������Ͷ�̬�������ܣ����ҿ��������ظ�������˲����������ƾ���.

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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.

Keywords�� strapdown inertial navigation system   global positioning system   phase locked loops   dynamic tracking performance   anti��jamming capability     
Received 2009-06-10;


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�ڽ࣬������.SINS����GPS���ٻ�·�������ϵͳ���[J]  �������պ����ѧѧ��, 2010,V36(5): 606-609
Yu Jie��Wang Xinlong.Ultra-tightly coupled navigation system design based on SINS aiding GPS tracking loops[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2010,V36(5): 606-609
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