惯性辅助的GNSS可区分性分析和粗差探测方法研究

Research on inertial assisted GNSS separability analysis and the outlier detection method

针对在建筑物遮挡情况下卫星信号衰减和中断所造成的观测值粗差问题,引入惯性辅助GNSS,旨在提供连续可靠的导航定位服务。基于可靠性理论详细推导了惯性辅助GNSS的紧组合粗差探测和识别方法,对单GNSS系统和惯性辅助GNSS系统的可靠性、可区分性、误判和定位精度进行分析。实验结果表明:受限观测环境下单GNSS系统观测值存在强相关性,导致误判的情况频繁发生且存在最小可探测粗差异常;惯性辅助GNSS能够将观测值的相关系数降低至0.2左右,最小可探测粗差降低至5 m以下,能够有效的进行粗差探测和识别,改善单GNSS系统的误判率,提高定位精度。

Aiming at the outliers caused by satellite signal attenuation and interruption under the occlusion of high buildings,this paper introduces inertial assisted GNSS to provide continuous and reliable navigation and positioning services.Based on the reliability theory,the outlier detection and identification method of inertial assisted GNSS tightly coupled integration system is derived,and the reliability,separability,misjudgment and positioning accuracy of GNSS stand-alone system and inertial assisted GNSS system are analyzed.The experimental results show that there is a strong correlation between the observed values of GNSS stand-alone system in a restricted observation environment,which leads to frequent misjudgment and abnormal minimum detectable bias.Inertial assisted GNSS can reduce the correlation coefficient of the observed values to about 0.2,and reduce the minimum detectable bias to less than 5 m.It can effectively detect and identify outliers,and improve the misjudgment rate of GNSS stand-alone system to achieve a higher positioning accuracy.