GPS/INS紧耦合导航中多路径效应改正算法及应用  

GPS/INS tightly-coupled navigation with multipath correction algorithm

作　　者：李增科[1,2] 高井祥[1,2] 姚一飞[1] 王坚[1,2] 

机构地区：[1]中国矿业大学国土环境与灾害监测国家地理信息局重点实验室,徐州221116 [2]中国矿业大学环境与测绘学院,徐州221116

出　　处：《中国惯性技术学报》2014年第6期782-787,共6页Journal of Chinese Inertial Technology

基　　金：国家863高技术研究发展计划(2013AA12A201);江苏省普通高校研究生科研创新计划项目(CXZZ12_0939);江苏高校优势学科建设工程项目(SZBF2011-6-B35);新世纪优秀人才支持计划(NCET-13-1019)

摘　　要：针对GPS伪距观测值受多路径误差影响较大,限制了GPS/INS紧耦合导航中导航精度提高的问题,在传统静态多路径消除方法的基础上,提出了导航过程中多路径效应动态消除算法,并应用于GPS/INS紧耦合导航。首先给出了GPS/INS紧耦合导航的动力学模型和观测模型以及静态定位多路径消除的方法,通过频谱分析探究了非差观测值序列的特殊性,引入了移动窗口提取动态导航过程非差伪距观测值的多路径,最后利用实测数据验证了算法的有效性。结果表明:对比没有经过多路径改正的组合导航算法,基于伪距多路径改正的GPS/INS紧耦合导航增强了滤波融合观测值的精度,减少了多路径效应对于伪距观测值的影响,平衡了伪距观测值和多普勒观测值的权重,提高了GPS/INS紧耦合导航的直接可测参数(位置、速度)和间接可测参数(姿态)的精度,北向、东向和高程三个方向的位置误差分别减小了18.8%、25.7%,和1.5%。In GPS/INS tightly-coupled navigation, the multipath error has significant influence on GPS pseudo-range observation and thus limits the navigation precision. Based on classical static multipath correction method, a dynamic multipath correction method was proposed and applied into the GPS/INS navigation. Firstly, the design formulas of observation model and dynamical model were presented in GPS/INS tightly-coupled navigation, and the classical multipath correction method was introduced. Then the characteristic un-differenced observation series is introduced by spectral analysis. A move-window was used to extract the multipath in pseudo-range observation for dynamic navigation. Finally, an actual calculation was performed to test the validity of new algorithm. The results of the experiment indicate that, compared with the integrated navigation without multipath correction, the GPS/INS tightly-coupled navigation based on multipath correction of pseudo-range improves the observation precision of filter fusion and reduce the effect of multipath on pseudo-range observation. The new method balances the weight of pseudo-range observation and Doppler observation. The precision of directly measurable parameters (position and velocity) and indirectly measurable parameters (attitude) in GPS/INS tightly-coupled navigation is improved. The position errors in north, east and height directions are decreased by 18.8%, 25.7% and 1.5%, respectively. ©, 2014, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.

关 键 词：紧耦合导航 多路径 伪距 移动窗口 

分 类 号：P228.4[天文地球—大地测量学与测量工程]