高动态GPS/SINS组合导航系统的时间同步方法

Time Synchronization Method for High Dynamic GPS/SINS Integrated Navigation System

高动态环境下GPS/SINS组合导航系统的同步误差源均被不同程度地放大,严重影响了系统的组合性能.给出了同步时间基准及记录GPS通信延时的硬件设计思想.在此基础上,将GPS与SINS的时标差、SINS的频标漂移及GPS的通信延迟作为同步误差源,采用软件处理方式完成对SINS频标漂移的建模、量测信息的外推计算及GPS通信延时的滤波补偿,使系统的量测信息在每一个同步点上实现同步.仿真结果验证了方法的有效性.

Time synchronization error sources of the GPS/SINS integrated navigation system in high dynamic environment were magnified to different degrees. As a result, the integration capability of the system was badly affected consequently. A thought of designing the synchronized time benchmark and recording the communication delay of the GPS in the hardware was presented. Based on it, the time mark difference between the two subsytem, the drift of the SINS＇ frequency mark and the communication delay were considered as the synchronization error sources of the system. In order to synchronize the measurements at every synchronization point, the modeling of the drift, the extrapolated calculation of the measurements and the filtering compensation for the communi- cation delay were accomplished using the software processing methods. Simulation results show the efficiency of the method.