基于GPS软件接收机的SINS/GPS紧组合系统仿真

Simulation of the Tightly-Coupled SINS/GPS Based on a GPS Software Receiver

为了系统验证SINS/GPS紧组合系统的性能,基于GPS软件接收机,进行了仿真系统构建。仿真系统由轨迹发生器、GPS中频信号模拟器、IMU信号模拟器、GPS软件接收机、SINS导航解算模块、组合滤波算法和导航性能分析模块等部分构成,其中详细设计了GPS软件接收机中的捕获和跟踪算法、SINS解算以及基于伪距和伪距率的组合滤波算法。仿真结果表明:紧组合导航系统收敛性较好,能够一定程度上抑制惯导系统误差的积累,有较好的导航性能。设计的该系统满足紧组合导航系统性能验证的需要,也为后续的超紧组合研究奠定了良好的基础。

In order to systematically verify the performance of SINS/GPS tightly-coupled system, based on a GPS software receiver, and a simulation system is constructed. The sim- ulation system consists of a trajectory generator, a GPS IF signal simulator, an IMU signal simulator, a GPS software receiver, a SINS navigation solver module, a Kalman filter, a navigation performance analysis module and other components. The detailed design of the ac- quisition and tracking algorithm of GPS software receiver, SINS solution and Kalman filter based on pseudorange and pseudorange rate is provided. The simulation results show that, tightly-coupled integrated navigation system has a better convergence, can control accumula- ted errors of SINS from a certain extent, so it has a better navigation performance. And the system can meet the needs of tightly-coupled integrated navigation system performance veri- fication. The simulation platform can also be employed for the following research on ultra- tightly-coupled SINS/GPS.