双天线GNSS辅助MINS导航方法研究

Research on Dual-antenna GNSS-assisted MINS Navigation Method

针对单天线GNSS辅助捷联惯性组合(INS)导航系统中,车辆静止及直线运动时航向角发散失效,误差较大,提出一种基于Extend Kalman Filter (EKF)的双天线GNSS辅助MINS组合导航方法。利用GNSS提供精度较高的航向角约束MINS的航向角发散,GNSS提供的速度和位置于MINS组合。根据双天线的GNSS/MINS组合系统的误差传播特性建立误差状态模型,设计了扩展卡尔滤波组合滤波算法进行仿真验证,通过对比高精度SPAN-CPT(SynchronousPositionAttitudeand Navigation)进行跑车试验。结果表明偏航角,俯仰角精度分别为0.2RMS,0.3RMS,速度位置精度提高,可用于低成本高精度车辆导航。

For the integrated navigation system of the single-antenna GNSS-assisted MEMS strap-down inertial navigation system(MINS), the heading angle divergence is invalid when the vehicle is stationary and linear motion, and the error is large. The method of the dual-antenna GNSS-assisted MINS integrated navigation based on EKF is proposed. The error state model is established, and the extended Kalman filter combined filter(EKF) algorithm is designsed for simulation verification. The driving test is carried out by comparing the high-precision SPAN-CPT. The results show that the yaw angle and pitch angle accuracy are 0.2 RMS, 0.3 RMS, which can be used for low-cost and high-precision vehicle navigation.