基于伪距/伪距率双差的INS/GNSS紧组合相对导航算法研究

Relative Navigation Algorithm of Tightly Integrated INS/GNSS Based on Pseudo-Range/Pseudo-Range Rate Double-Difference

随着惯导/卫导组合导航技术的发展,将其应用于编队相对导航的研究越来越多。结合卫导差分相对定位、INS/GNSS组合导航技术,本文将编队成员中主节点和从节点伪距、伪距率的两次差分量直接作为观测量,研究了一种INS/GNSS紧组合相对导航新算法。该算法通过两次差分操作可以消除大部分传播路径误差以及公共时钟误差;利用惯导的平滑特性能够消除测量量中的部分随机噪声。仿真结果表明:该算法能够提供精度更高,更加平稳的相对导航信息。

With the development of the technology of tightly integrated INS/GNSS,which is widely applied to the formation relative navigation,Combing the relative navigation technology based on GNSS difference with the technology of INS/GNSS integrated navigation,the relative navigation algorithm of tightly integrated INS/GNSS is researched in this paper,regarding the double-difference of pseudo-range/pseudo-range rate as observables.The most of transmission pathway errors and common time errors can be eliminated by two times differential operators,and a part of measurement noise by the smooth properties of INS.Simulation results show that the algorithm can obtain the more higher accurate and steady relative navigation information.