基于多解分离的GNSS/Inertial组合系统完好性监测

Integrity monitoring for GNSS/Inertial based on multiple solution separation

在卫星导航系统的完好性监测中,通常的接收机自主完好性监测过分依赖于可见星的几何分布,并且不能提供足够的可用性。针对该问题,给出了一种基于多解分离的惯性辅助卫星导航完好性监测方法。在对基于奇偶矢量的接收机自主完好性监测法及其可用性分析基础上,设计了基于多解分离的卫星导航/惯性组合导航紧耦合滤波器,推导了其完好性监测以及可用性计算方法。通过仿真实验,从可用性、阶跃故障和斜坡故障的完好性监测效果等方面,对两种方法进行了对比分析。结果表明,多解分离法在5颗星时仍能定位故障,水平保护限值可以降低50 m,对于1 m/s的斜坡故障检测时间可以缩短71 s,显著提高了完好性监测性能。

In the integrity monitoring for Global Navigation Satellite System（GNSS）,the normal Receiver Autonomous Integrity Monitoring（RAIM） greatly depends on the constellation geometry and doesn＇t have sufficient availability.Aimed at this problem,a GNSS integrity monitoring method aided by inertial based on Multiple Solution Separation（MSS） is presented.Based on RAIM method using parity vector and its availability analysis,the tightly integrated navigation system of GNSS/Inertial based on MSS is designed.The calculation method of integrity monitoring and availability for GNSS/Inertial system is deduced.By establishing simulation system,the simulation results for MSS vs.RAIM method were implemented including availability,step failure detection and ramp failure detection and so on.The results show that,by using MSS method,a failure can be fixed even only five satellites are available,the HPL can be reduced by 50 m,and the detect time can be reduced by 71 s.