摘要
针对可用星数目小于4情况下,SINS/GPS松散组合导航必须转为纯惯性状态,无法解决纯惯性导航参数误差发散的问题,提出了以导航星伪距和伪距率为观测量的紧耦合SINS/GPS组合导航方案。建立了紧耦合系统的数学模型,搭建了硬件系统,并应用于工程实践。车载试验结果表明:当可用星数目小于4时,紧耦合系统定位的纬度误差、经度误差小于100 m,且与导航时长无关,而纯惯性系统定位误差随时间发散,0.5 h纬度误差为1000 m,而1 h时纬度误差增至2000 m左右;当可用星数目大于等于4时,SINS/GPS紧耦合模式其经、纬度误差小于10 m,高程误差小于20 m,而松散组合时误差约为前者3倍。
The SINS/GPS loose-coupled system has to work in the pure inertial state if less than 4 satellite are available,thus its parameter errors would be unbounded.In view of this problem,a tightly-coupled SINS/GPS integrated navigation scheme is put forward which takes the pseudorange and pseudorange rate of GPS as the observations.The model of tightly-coupled system is set up,and the technology is realized in practical application.The vehicle test results show that: when number of usable navigation satellites is less than four,the latitude and longitude errors of tightly-coupled are both smaller than 100 m and has nothing to do with the navigation time;and when it is equal or more than 4,the latitude error is about 1000 m in half an hour and about 2000 m in an hour.When the usable satellite number is more than four,latitude and longitude errors of tightly-coupled system are both smaller than 10 m,and the altitude error is smaller than 20 m,which are significantly less than those of loose-coupled system.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2011年第1期33-37,共5页
Journal of Chinese Inertial Technology
基金
国家自然科学基金项目(60904086)
关键词
纯惯性
松散组合
紧耦合
伪距
伪距率
可用星数目
pure inertial
loose-coupled
tightly-coupled
pseudo-range
pseudo-range rate
number of available satellite