基于矢量跟踪的GNSS/SINS相干深组合系统研究

Research of Coherent Deep Integrated Navigation System Based on Vector Tracking

为满足组合导航系统在高动态环境下的性能要求,设计基于矢量跟踪的GNSS/SINS相干深组合导航方法。利用矢量跟踪环路将所有可视卫星的跟踪和导航解算融为一体,增强通道间的辅助;高动态对载波跟踪影响更大,在通道预滤波中将码环载波环分别用独立的滤波器处理,组合滤波中采用通道间差分降低滤波状态维数,提高计算效率。引入惯导的加速度辅助本地信号参数预测,较精确地测量卫星视线方向的加速度,减小接收机在高动态时段的剩余动态,提高本地信号参数的预测精度。基于矢量跟踪软件接收机搭建相干深组合仿真系统,实验表明该方法在高动态等环境下能提高信号跟踪性能,改善系统的精度、可靠性。

In order to meet the navigation performance of integrated navigation system in high dynamic environment,a method of GNSS/SINS coherent deep integration navigation is designed based on vector tracking. The tracking and navigation solutions of all the visible sat- ellite signals are integrated by using the vector tracking loop to strengthen auxiliary between channels. For the high dynamic impact more on PLL tracking,the DLL and PLL are sepa- rately processed by independent filters in the channel pre-fiher. In the combination filter, the state dimension is reduced by difference between channels to improve the computational effi- ciency. The SINS is introduced to predict the local signal parameters in high dynamic envi- ronment to accurately measure the acceleration of the receiver and satellite. The residual dy- namics of the receiver are reduced and the accuracy of local signal parameters prediction is improved. Based on vector tracking software receiver, a coherent integration simulation sys- tem is set up. Experimental results show that the dynamic tracking capability can be effectively enhanced with this system, which can ensure the precision and reliability of the inte- grated system.