基于多接收机的卫星/惯性组合导航系统研究

A Study on GNSS/SINS Integrated Navigation System Based on Multi-receiver

针对单频单系统卫星/惯性组合导航系统精度不高的特点,提出一种基于多接收机的卫星/惯性组合导航系统,该方法利用多个接收机导航信息参与组合导航解算,补偿惯性导航系统误差,采用集中式和分散式两种方法处理多接收机和惯性导航系统信息融合问题。实验结果表明,多接收机配置相对于单接收机导航精度得到了明显的提高,分散式处理方法能够在保持定位精度的同时提高计算效率。由于单频单系统接收机成本较低,该方法能够在不显著提高成本的情况下,显著提高单频单系统卫星/惯性组合导航系统定位精度。

For improving the positioning accuracy of the single frequency single constellation GNSS/SINS integrated navigation system,a multi-receiver based GNSS/SINS integrated navigation system is proposed in this paper.Measurements from multiple receivers are employed in the navigation information estimation,and the estimated state errors are applied to compensate the SINS errors.Center and cascaded filter architectures are employed to process the multi-receiver based GNSS/SINS information fusion.The experimental results showed that the positioning accuracy is improved with more receivers included in the integration.The cascade method could maintain the positioning accuracy with computation load reducing.Due to the low cost of the receiver,the method can improve the positioning accuracy without obvious cost improvement.