一种基于载波相位时间差分的惯性/卫星组合方法

Inertial/Satellite Integrate Method Based on Carrier Phase Temporal Difference

传统的惯性/卫星紧耦合组合导航系统使用卫星伪距/伪距率作为量测,卫星伪距率一般可以提供厘米/秒级精度的速度信息;而载波相位时间差分观测量可以达到毫米级精度且无需参考接收机。本文分析了载波相位时间差分的原理,并将其应用到惯性/卫星组合导航系统中;在滤波器的设计中使用状态延迟滤波法处理载波相位时间差分观测量,使惯性/卫星组合导航系统达到了较高的速度精度。

The conventional tightly coupled INS/GPS integrated navigation system uses GPS pseudorange/pseudorange rate as measurements. Usually GPS pseudorange rate can provide velocity information with cm/s level precision, while the measurements of carrier phase temporal difference can reach mm level precision without reference of receiver. This article analyze the theory of carrier phase temporal difference and apply it in INS/GPS integrated navigation system and use the state delay filter method to handle the measurements of carrier phase temporal difference in the design of filter, thus make the INS/GPS integrated navigation system reach a higher velocity precision.