一种低复杂度的惯性/GNSS矢量深组合方法  

A low-complexity inertial/GNSS vector deep integration method

作　　者：傅金琳[1,2] 张崇猛 阎磊[3] 兰晓阳 周贤高 宫京 FU Jinlin;ZHANG Chongmeng;YAN Lei;LAN Xiaoyang;ZHOU XianGao;GONG Jing(Tianjin Navigation Instruments Research Institute,Tianjin 300131,China;Laboratory of Science and Technology on Marine Navigation and Control of China State Shipbuilding Corporation,Tianjin 300131,China;China Mobile communication group Tianjin Co.,Ltd.,Tianjin 300308,China)

机构地区：[1]天津航海仪器研究所,天津300131 [2]中船集团航海保障技术实验室,天津300131 [3]中国移动天津公司,天津300308

出　　处：《中国惯性技术学报》2019年第6期753-758,共6页Journal of Chinese Inertial Technology

基　　金：国防基础科研计划(JCKY2017207C045);2017天津市青年人才托举工程

摘　　要：针对标量跟踪中接收机各跟踪通道相互独立,通道之间没有信息交互和相关辅助的现象,提出了一种惯性/GNSS矢量深组合方法。该方法将接收机标量跟踪独立的跟踪通道合并为一个大通道,通过所有通道信息联合对各通道控制信息进行估计,一方面降低了通道噪声,另一方面能够实现强信号通道对弱信号通道的辅助,进一步提升接收机的跟踪灵敏度。此外,它将惯导滤波与接收机滤波融合为一个滤波器,降低了计算复杂度,易于工程实现。仿真结果表明,所提出算法相比标量深组合算法,能够有效改善多普勒频率误差、灵敏度以及速度、高度误差,将多普勒频率误差从原来的9.21 Hz降低到0.94 Hz,速度误差改善约33.3%,高度误差减少1.5~2 m。In view that the tracking channels in scalar tracking receiver are independent of each other, and there is no information interaction or correlation between the channels, an inertial/GNSS vector deep-integration method is proposed. This method combines the independent tracking channels of scalar tracking into a large channel, which can realize the effective assistance of strong satellite signal channels to the weak ones, reduce the noise error of each tracking loop, and improve the tracking sensitivity of the receiver. In addition, this method combines the inertial navigation system filter and receiver loop filter into one filter, which reduces the computational complexity and is easy to implement in engineering. Simulation results show that, compared with the scalar deep-integration algorithm, the proposed algorithm can effectively improve the Doppler frequency error, the carrier-to-noise ratio, and the speed/height errors, which reduces the Doppler frequency error from 9.21 Hz to 0.94 Hz, improves the velocity error by about 33.3%, and reduces the height error by 1.5~2 m.

关 键 词：矢量 深组合 惯性导航 低复杂度 

分 类 号：U666[交通运输工程—船舶及航道工程]