基于GNSS通道差分的紧组合滤波方法研究  

The Study of Tightly Coupled Filter Method Based on GNSS Channel Differential

作　　者：常耀伟[1] 陈帅[1] 雷浩然[1] 王磊杰[1] 

机构地区：[1]南京理工大学自动化学院,南京210094

出　　处：《航天控制》2014年第5期47-51,58,共6页Aerospace Control

基　　金：国家自然科学基金委员会和中国工程物理研究院联合基金资助(U1330133);江苏省自然科学基金(BK20130774)

摘　　要：在基于伪距、伪距率的常规紧组合导航系统中,若GNSS出现时钟异常等情况,则会引起伪距、伪距率误差异常,从而导致组合导航精度下降;与松组合滤波器相比,常规紧组合滤波器扩充了状态变量的维数,增加了运算复杂度,降低了组合滤波的实时性。本文提出了一种双通道降维滤波算法,其中状态变量不再包含伪距、伪距率误差;以GNSS通道伪距、伪距率差分信息作为观测量。通过仿真表明,采用双通道降维滤波算法可以有效削弱时钟异常等的影响,并且有效提高组合滤波的实时性。In the conventional tightly coupled navigation system which is based on pseudo-range and pseu- do-range rate, if some exceptions like GNSS clock abnormal situation occurs, it can cause pseudo-range er- ror and pseudo-range rate error, leading to precision decrease of the navigation. Compared with the loosely coupled filters, the conventional tightly coupled filter extends dimensions of state variable, adds to the com- plexity of computation and reduces the instantaneity of combination filter. A dual-channel dimensionality re- duction filtering algorithm is presented, in which the state variables have no longer pseudo-range error and pseudo-range rate error and the GNSS channels pseudo-range and pseudo-range rate differential information are used as observables. The results of simulation show that the adopted dual-channel dimensionality reduc- tion filtering algorithm can effectively weaken the impact of abnormal clock and improve the instantaneity of combination filter.

关 键 词：紧组合 实时性 降维滤波 全球导航卫星系统 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]