PPP/SINS紧耦合系统仿真的研究与分析

The Simulation of PPP/SINS Tightly Coupled System

在捷联惯导(SINS)和GPS卫星接收机进行紧耦合的研究中,采用差分定位进行紧耦合的方法比较成熟,而关于精密单点定位(PPP)与捷联惯导紧耦合的研究还比较少。本文对精密单点定位与捷联惯导紧组合系统进行了Matlab仿真,利用数学解析的方法产生机载运动轨迹,通过设置系统的参数,获得仿真SINS和GPS数据;然后,通过PPP/SINS紧组合系统的仿真程序解算,将定位结果与PPP的结果比较,表明PPP/SINS紧组合导航定位的结果比PPP的精度和可靠性好,而且收敛的速度更快,同时也验证了算法的正确性。最后,分析了不同等级惯导对定位精度的影响。

In the study of SINS / GPS receiver tightly coupling,the method that adopted differential positioning to tightly couple has matured,while fewer researches were about PPP / SINS tightly coupling.In this paper,PPP / SINS tightly coupled system was Matlab simulated first.Airborne trajectory was generated by the method of mathematical analysis.Simulated data of SINS and GPS was acquired through setting the parameter of system.Then,the correctness of the algorithm was verified by calculating simulated programs of the PPP / SINS tightly coupled system.When compared with the result of PPP,it proved that the correctness of the navigation algorithm and the positioning result of the PPP / SINS tightly coupled integrated navigation were more accurate and reliable than that of PPP.Besides,the positing result had faster speed of convergence.At the same time,verified the correctness of the navigation algorithm.Finally,the authors analyzed the effect of different levels of inertial measurement unit to the accuracy of positioning.