一种新型深组合GPS／INS系统的设计与性能仿真研究

Design and Simulation for an Novel Scheme of Fully Integrated GPSlINS Navigation System

本文提出和研究了一种新的深组合ＧＰＳ／ＩＮＳ系统设计方法，它适用于干扰环境中的各类高动态载体。其特点是利用自适应码跟踪误差估计器，使组合卡尔曼滤波器获得白化的伪距量测残差，将组合卡尔曼滤波器纳入码跟踪环路，用以代替传统的速率辅助的延迟锁定环。组合卡尔曼滤波器根据信号的噪声、动态、以及ＩＮＳ的误差，自适应地改变码环的跟踪特性，同时也完成惯性导航系统误差的估计。它能克服常规组合系统不稳定性问题，仿真结果表明，在机动飞行和强干扰状态下，这种组合导航系统具有较高的导航精度和良好的信号跟踪及抗干扰性能。

This paper presents a novel scheme of fully integrated GPS/INS navigation system being considered for a variety of high dynamic vehicle applications in severe jamming environments. The key features of the scheme include adaptive tracking error estimators by which Integrated Kalman Filter(IKF)can obtain the whitened measurements,and new code tracking loop replacing conventional rate-aided code loop by this means that IKF is introduced to the loop as loop filter so that IKF can optimize not only performance of the loop based on noise,dynamics of signal and INS error,but also perform the INS error-estimation process. This scheme avoids possible instability of conventional integration,and provides improvements in performance of navigation and antijam in high dynamic and severe jamming environments.These results are ob-tained from theoretical analyses and simulations.