基于速度数据的GPS时间延迟精确测量方法

Method of measuring GPS signal delay accurately based on velocity data

针对GPS与MIMU数据融合中关于数据同步的问题,提出一种基于速度数据精确测量GPS时间延迟的方法。基于最小误差估算方法的数理统计理论,该方法以同步接收GPS信号和汽车脉冲车速为数据基础,对GPS的信号延迟进行精确计算。同时,针对该方法进行数据采集实验和分析,验证通过该方法计算的GPS信号延迟具有稳定性和可靠性,可以应用于GPS与惯性导航系统进行数据融合等场合。

In order to solve the synchronization problem of MIMU/GPS integration,a method of measuring GPS signal delay accurately based on velocity data is established.The method is to calculate the delay of GPS signal with the speed data measured from GPS and vehicles＇ speed pulse synchronously based on the mathematical statistics theories of minimum error estimation.The GPS delay measured by this method is verified to be stable and reliable in the data collection and analysis experiment and can be applied to the MIMU/GPS data fusion.