基于载波相位的高精度惯性组合导航系统研究

Research on High Precision Integrated GPS/INS Navigation System Based on Carrier Phase

研究了一种利用GPS差分载波相位和惯导组合构成高精度组合导航系统的算法,建立了以载波相位双差观测量对惯导位置误差直接进行观测的数学模型,利用卡尔曼滤波器进行数据融合,可以达到厘米级的组合导航系统定位精度。同时,为了解决使用GPS载波相位观测量过程中出现的周跳问题,文中充分利用由该组合方案得到的高精度定位信息以及惯导在短时间内可保持高精度的特点,提出了迅速修复周跳和重新确定整周模糊度的方法,并通过仿真验证。

A kind of high precision integrated GPS/INS navigation system is proposed in this paper. It could provide a position accuracy of lcm using a Kalman filter to deal with the measurement model of double-differenced GPS carrier phase and INS position error model. In order to resolve the cycle-slip and integer ambiguities of GPS carrier phase measurements . a fast algorithm is suggested by using the high position from the integrated GPS/INS navigation system and thc high precision INS information of little interval. The result of simulation proves that algorithm of this paper is success.