双源组合导航系统关键算法研究

Research on Key Algorithms BDS/SINS Integration

针对基于伪距、伪距率的北斗/捷联惯导组合导航系统开展了前期的理论研究,介绍了卫星/惯导组合导航系统中松组合、紧组合和超紧组合的基本原理,并建立了以伪距、伪距率为观测量的北斗/捷联惯导组合导航系统的状态方程和量测方程,设计了卡尔曼滤波参数,仿真验证了基于伪距、伪距率的组合导航系统能够有效的抑制捷联惯导系统的位置和速度误差随时间发散的特性,取得了良好的效果。仿真结果显示,北斗/捷联惯导组合导航系统失准角误差优于0.03°,东方向和北方向的位置误差和速度误差分别优于10m和1m/s。

This dissertation works on the pre-theoretical research and technical exploration with BDS/SINS integrated navigation system, which based on the pseudo-range and pseudo-range rate. Loose integration, tight integration and ultra-tight integration are discussed in this dissertation. And it established a pseudo-range and pseudo-range rate measurement for the concept of BDS/SINS com- bination system＇s state equation and measurement equation of Kalman filter parameters. The preparation of a combination simulation based on the pseudo-range and pseudo-range rate proved the fact that integrated navigation system can effectively suppress strap down inertial navigation system position and velocity errors of the divergence. This dissertation achieved good results： the misalignment is less than 0.03° and the error of east and north position and velocity are less than 10 m and 1 m/s respectively.