惯导辅助单历元解算模糊度测姿方法  

INS Aided Ambiguity Calculation Method With Single Epoch and Attitude Determination

作　　者：李枭楠 李隽[1,2] 智奇楠 王青江[1,2] 刘鹏飞 

机构地区：[1]中国电子科技集团公司第五十四研究所,石家庄050081 [2]卫星导航系统与装备技术国家重点实验室,石家庄050081

出　　处：《计算机测量与控制》2018年第1期87-91,共5页Computer Measurement &Control

基　　金：国家高技术研究发展计划(863计划);高精度低成本深耦合测绘车应用示范资助项目(2015AA124001)

摘　　要：GNSS与INS在测姿方面的组合理论上可以提升精度,但实际中有时会由于GNSS模糊度固定率低、固定出错、易受干扰等原因导致其精度相对INS过低,以至于组合精度不佳;针对以上问题,提出一种用惯导辅助解算模糊度的方法 (IAACM),利用惯导信息辅助解算模糊度浮点解,在固定模糊度后得出更精准稳定的GNSS载体姿态,该姿态可与INS姿态再次组合有效提升测姿精度;该方法在解算模糊度层面引入了惯导信息,具有不受卫星数量限制,单历元固定模糊度,误差稳定等优势;利用高精度GNSS接收机与光纤惯导组合搭建试验平台,在城市道路环境中进行跑车测试,验证模糊度固定情况及测姿精度;试验表明,该方法可提供更精准的模糊度浮点解,并可单历元固定模糊度,有效提升模糊度固定率,使测姿精度大幅提高。The integration of GNSS and INS in attitude determination should have higher precision in theory,but sometimes its precision is unsatisfactory.The reason is the much lower precision of GNSS than INS,which is caused by the low ambiguity fix rate,fix error and easily disturbed.In order to solve these problems,the INS Aided Ambiguity Calculation Method(IAACM)is proposed.It calculates the ambiguity float solution with INS aided,and gets a much higher and stable GNSS attitude of vehicle after fixed.This attitude can be integrated with INS to develop the attitude precision availably.This method introduces the INS message on ambiguity calculation.It can fix ambiguity with single epoch,not confined to number of satellites,and have stable error.The test vehicle platform consists of high-precision GNSS receivers and fiber-optic INS,and running on urban environment to test the ambiguity fix efficiency and attitude determination precision.Test results show that this method can provide a much precise ambiguity float solution and fixed it in one epoch.Naturally,it can raise the ambiguity fix rate effectively and make the attitude determination much precise.

关 键 词：模糊度 测姿 惯导辅助 单历元 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]