GNSS精密单点定位与惯性导航紧组合理论模型  

Mathematical Models of GNSS PPP/INS Tightly Coupled Integration

作　　者：迟皓婧 杨凯 闵于 程佳贝 高周正[1] CHI Haojing;YANG Kai;MIN Yu;CHENG Jiabei;GAO Zhouzheng(School of Land Science and Technology,China University of Geosciences(Beijing),Beijing 100083,China)

机构地区：[1]中国地质大学(北京)土地科学技术学院

出　　处：《测绘与空间地理信息》2019年第12期43-47,50,共6页Geomatics & Spatial Information Technology

基　　金：国家自然科学基金青年基金(41804027);中央高校基本科研业务费专项资金资助优秀教师基金项目(2652018026)资助

摘　　要：针对精密单点定位(Precise Point Positioning,PPP)动态定位精度低、收敛速度慢等问题,本文采用PPP/INS紧组合系统来达到改善PPP动态定位性能的目的。本文对PPP/INS紧组合的观测方程、误差补偿模型、参数估计模型等进行详细推导。通过车载实验采集的卫星观测数据和不同等级的惯性数据,对动态PPP及PPP/INS紧组合的定位定姿性能进行分析,评估不同等级惯性传感器对PPP/INS紧组合定位精度和收敛速度的影响。实验结果表明:PPP/INS紧组合在北-东-高方向的位置RMS相对于PPP分别改善了70.2%、29.1%和16.8%,达到4.8 cm、12.3 cm和7.4 cm。在卫星跟踪条件良好时,惯性传感器性能对PPP/INS紧组合定位精度影响不大;而在卫星观测条件不足时,惯性传感器性能对PPP/INS紧组合定位精度影响明显。此外,仿真和恶劣条件下的数据结果表明,PPP/INS初始定位精度与收敛速度随惯性传感器性能提高而改善明显。In order to sovle the problems such as the low positioning accuracy and long convergence time in the dynamic Precise Point Positioning( PPP),the algorithm of tightly coupled integration between PPP and Inertial Navigation System( INS) is introduced in detail in this contribution. The model of the PPP/INS tightly coupled integratrion,including the observational functions,error compensation models,and parameter adjustment methods,are introduced. After that,an experiment around Wuhan city is arranged to collect the Global Navigation Satellite System( GNSS) observations and different grades INS data by using a multi-GNSS receiver and three different grade Inertial Measurement Sensors( IMU). Results indicated that the position Root Meant Square( RMS) values of the PPP/INS tightly coupled integration are 4.8,12.3 and 7.4 cm with an improvement of 70.2%,29.1% and 16.8% in north,east,and vertical components,respectively comparing with that of PPP. Besides,under the open sky environment,the accuracy of PPP/INS tight integration shows little correlation with IMU grades,however a visible correlation appears during the GNSS outages. In addition,the results from the simulation experiment and the real test data express a significant conclusion that the re-convergence time and positioning accuracy of PPP/INS tightly coupled integration is significantly affected by IMU grade.

关 键 词：全球卫星导航系统 精密单点定位 惯性导航系统 PPP/INS紧组合 

分 类 号：P231[天文地球—摄影测量与遥感]