基于伪距、伪距率的组合导航误差校正仿真

Error correction simulation of integrated navigation based on pseudo-range/pseudorange rate

传统的组合导航一般采用位置、速度组合方式对GPS的依赖程度过高,需至少观测到四颗卫星,同时由于由GPS提供的速度和位置信息是经过数据处理得到的计算量测量,有一定的相关性,对组合导航精度有较大影响。采用GPS接收机提供的原始数据——伪距和伪距率进行组合导航,可以有效避免位置、速度组合中量测输入相关的问题,当可观测卫星数目变小时,也能在短时间内保持一定的导航精度。利用卡尔曼滤波方式进行滤波,可以有效的提高组合导航精度和对误差的估计精度。对同一组数据进行误差校正仿真实验,结果表明伪距、伪距率组合方式相较于位置、速度组合方式精度提高了20%。

The traditional integrated navigation generally use the position and velocity combination, which highly depend on the GPS, and when there are at least four satellites to be observed that we can use this method. In another way, because the position and velocity information provided by the GPS is calculated by the data processing, it has correlation to some extent and has a greater impact on the accuracy of integrated navigation. Using raw data provided by the GPS receiver - pseudo-range and pseudo-range rate can effectively avoid the problem of input related in the position and velocity combination. When the number of observable satellites becomes smaller, it can also be maintained a certain degree of navigation accuracy in a short time. The simulation results show that the combination of pseudo-range and pseudo-range rate is 20% higher than that of position and velocity combination.