多星座GNSS/INS紧耦合方法  

Tightly-coupled integration method for multi-constellation GNSS/INS

作　　者：杨涛[1,2] 赵子阳[2] 李醒飞[1] 蔡玲[2] 

机构地区：[1]天津大学精密仪器与光电子工程学院,天津300072 [2]天津航海仪器研究所,天津300131

出　　处：《中国惯性技术学报》2015年第1期38-42,共5页Journal of Chinese Inertial Technology

基　　金：海军重点预研项目(401010301)

摘　　要：针对可用卫星数目不足、多星座GNSS接收机不能定位条件下,传统GNSS/INS松耦合方式退化为"纯惯性"模式,无法抑制惯导误差发散的问题,提出了一种基于多星座GNSS接收机原始伪距观测量的GNSS/INS紧耦合方法。利用惯导与多星座GNSS接收机搭建硬件平台,开展了车载试验。试验结果表明,当可用卫星数目满足定位条件时,多星座GNSS/INS紧耦合方法与松耦合方法的导航精度相当;当可用卫星数目不足、多星座GNSS接收机不能定位时,多星座GNSS/INS紧耦合方法仍可利用剩余卫星提供的观测信息继续运行,当卫星数减少为5颗时,纬度和经度精度均优于30 m;当卫星数进一步减少为4颗时,纬度精度优于90 m,经度精度优于50 m。Traditional GNSS/INS loosely-coupled integration method is not effective when having not enough visible satellites. To solve this problem, a GNSS/INS tightly-coupled integration method is put forward based on raw pseudo-range measurements of multi-constellation GNSS receivers. A hardware platform is constructed by utilizing inertial navigation system and multi-constellation GNSS receiver, and then vehicle-carried tests are conducted. The test results show that, although the loosely-coupled and tightly-coupled methods have almost the same navigation accuracy when with enough visible satellites for GNSS receiver to locate, they show totally different when without enough visible satellites, that is, the loosely-couple method cannot restrain the accumulation of INS error and is degraded into 'pure inertial' mode, whereas the tightly-coupled method can still run by using the observation information of the remaining satellites. In addition, when the number of visible satellites is decreased to 5, the accuracies of latitude and longitude are both <30 m, and when decreased to 4, the two accuracies are <90 m and <50 m, respectively. ©, 2015, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.

关 键 词：惯导 全球导航卫星系统 多星座 组合导航 松耦合 紧耦合 伪距观测 

分 类 号：U666.1[交通运输工程—船舶及航道工程]