GNSS+INS组合在周跳探测中的技术研究

Research on cycle slip detection technology based on GNSS+INS combination

在一些复杂多变的环境下,单频GNSS没有办法完成较健全的实时动态周跳探测,从而使得GNSS无法保持正确的模糊度固定结果,影响定位的稳定性和准确性。为了提升GNSS+INS组合的导航定位精度,本文提出加强GNSS模糊度固定解,将双差的GNSS+INS组合单频周跳探测检测量的偏差特点作为研究重点。研究结果表明,其偏差产生的原因不仅与INS增量存在密切关系,而且还与矢量角大小相关,通过确定探测检测量的措施,减少矢量角影响,从而促进周跳探测性能提高。经过周跳探测临界值在滑动窗口估算,约束INS偏差受GNSS偏差覆盖部分的进一步放大,提升GNSS+INS组合的周跳探测精度。

In order to improve the accuracy of the GNSS+INS combined navigation and positioning system,at the same time,in some more complex and changeable complex environments,there is no way to achieve a relatively complete real-time dynamic cycle slip detection with single-frequency GNSS,so that the CNSS ambiguity cannot be maintained.This paper proposes to strengthen the research on the fixed solution of GNSS ambiguity,and focuses on the deviation characteristics of the double-difference GNSS+INS combination single-frequency cycle-slip detection detection.The research shows that the reasons for the deviation are not only closely related to the INS increment,but also closely related to the size of a vector angle,and measures of detect the detection amount are determined to reduce the influence of the vector angle,thereby promote the improvement of cycle slip detection performance.By estimating the critical value of cycle slip detection in the sliding window,it is possible to constrain the INS bias to further enlarge the part covered by the GNSS bias.It achieves the purpose of improving the cycle slip detection accuracy of the GNSS+INS combination and meets the actual needs.