一种GPS/MIMU深组合滤波器算法  

Vector-tracking algorithm for deeply integrated GPS/MIMU

作　　者：王伟[1] 李强[1] 郭晓[1] 沈锋[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2013年第1期62-65,79,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：新世纪优秀人才支持计划资助项目(NCET-11-0827);国家自然科学基金资助项目(60704018)

摘　　要：研究一种GPS/MIMU超紧组合下的矢量跟踪算法.引入惯导信息计算载波延时来建立中频信号模型,计算C/A码、载波频率和载波相位与伪距、伪距率的关系,构建预滤波器动态模型.引入惯导状态信息和量测信息构建主滤波器模型,形成闭合矢量跟踪环路.仿真结果表明:GPS/MIMU超紧组合下的矢量跟踪算法能够增加同向即时支路数据信号的功率,缩小初始载波相位误差和码相位误差,从而提高载波相位和码相位的鉴别精度;当信号载噪比低至26dB.Hz时,矢量跟踪环所能跟踪到的码相位和载波相位比标量跟踪环路分别提高了0.14码片和0.15rad,同向即时支路信号的幅值也提高了2～3倍.A filter algorithm of GPS/MIMU（global positioning system/miniature inertial measurement unit）deeply integrated navigation was researched.The carrier delay time with INS information was calculated to obtain an intermediate frequency signal model.The relationships among code phase,carrier frequency,pseudorange and pseudorange rate were calculated.A pre-filter dynamic model was built.The main navigation filter was founded and vector tracking loop was finished by using the INS state information and measure information.The simulation results show that the vector tracking algorithm based on GPS/MIMU can increase the signal power of in-phase prompt branch and reduce initial carrier phase error and code phase error,so the accuracy of carrier phase and code phase are improved;when carrier-to-noise power density ratio decrease to 26dB.Hz,vector tracking loop can track 0.14 chip code phase and 0.15 rad carrier phase more than scalar loop and altitude of in-phase prompt branch is also increased by 2～3 times.

关 键 词：滤波器 中频 深组合 矢量跟踪 弱信号 

分 类 号：TN914.4[电子电信—通信与信息系统]