一种GNSS/SINS容错深组合导航系统设计

Design of fault-tolerant GNSS/SINS deep-integration system

卫星惯性深组合导航技术是卫星惯性组合导航领域最有前景的技术之一。深组合导航系统的关键技术之一就是矢量跟踪环路技术,当一个或者多个通道信号质量较差时,组合导航滤波器必然会受影响,从而会影响矢量跟踪环路的参数计算,因此通道运行状态的实时检测十分必要。针对此问题,为每个通道设计了新的通道子滤波器和对应的子滤波器状态检测函数,当通道存在故障时,能够及时检测出故障并对故障通道进行隔离;当通道恢复正常时,也能够及时检测到并充分利用恢复正常的通道卫星信号。仿真结果表明,在部分通道卫星信号被遮挡导致伪距异常的环境下,改进的矢量跟踪环路提高了矢量跟踪卫星惯性深组合的导航性能,有效遏制了故障通道对组合导航系统的影响。

Designing a roust vector tracking loop is one of the key techniques for deep-integrated GNSS/SINS navigation system. Traditional vector tracking loop employs a central Kalman filter to perform both the tracking and the navigation, but this has the disadvantage that the fault channel will definitely affect the performance of the vector tracking loop. To solve this problem, a novel fault-tolerant deep-integrated GNSS/SINS system is proposed. By designing a simple sub-filter and a state detection function for each channel, the running state of the signal tracking channel can be detected in real-time, and the blocked satellite can be reused when receiving satellite signals again. Simulation results show that this method can improve the performance of the vector-tracking-based deep integration system, especially under such circumstance that the partial channel satellite signals are frequently blocked.