基于惯性辅助的北斗接收机完好性监测方法研究

Integrity Monitoring Methods of BDS Receiver Based on Inertial Assistance

针对传统卫星导航接收机在卫星数小于5颗及卫星星座构型不佳的情况下无法实现卫星故障识别与隔离的问题,结合卫星导航接收机在弹上的实际应用情况,利用惯导的辅助数据设计了一种基于多级Kalman滤波的北斗接收机完好性监测方案,给出了卫星导航接收机的RAIM滤波器结构与故障检测和隔离方法,并对其可用性进行了推导。该方案经过仿真分析及实验测试,结果表明在4颗可见星的条件下,可有效检测并隔离单星阶跃、慢速漂移、慢速随机等北斗卫星伪距和伪距率故障,从而使北斗接收机能够提供连续、精确的导航定位功能。

Traditional satellite navigation receiver can't recognize and isolate satellite faults when the number of satellite is less than 5 and the configuration of satellite is not good.Aiming at this problem and considering the actual application of satellite navigation receiver in missile,an integrity monitoring scheme of BDS receiver based on multi-level Kalman filter is designed by using the data of INS.The structure of RAIM filter and the method of fault detection and isolation for satellite navigation system are given,and its usability is deduced.The simulation and testing results show that the scheme can still detect and isolate pseudorange and pseudorange rate faults of BDS satellite effectively,such as single-star step faults,slow drift faults and slow random faults,under the condition of 4 visible satellites.Thus the BDS receiver can maintain continuous and accurate navigation and positioning function.