SINS/GNSS组合导航系统中激光多普勒测速仪参数估计  

Parameter estimation of laser doppler velocimeter in SINS/GNSS integrated navigation system

作　　者：马俊 曹成度[2] 闵阳[2] 周吕 MA Jun;CAO Chengdu;MIN Yang;ZHOU Lv(GNSS Center,Wuhan University,Wuhan 430079,China;Engineering investigation and Research Institute,China Railway Siyuan Survey and Design Group Co,,LTD,Wuhan 430079,China;College of Geomatics and Geoinfbrmation,Guilin University of Technology,Guilin 541004,China)

机构地区：[1]武汉大学卫星导航定位技术研究中心,武汉430079 [2]中铁第四勘察设计院集团有限公司工程勘察研究院,武汉430063 [3]桂林理工大学测绘地理信息学院,广西桂林541004

出　　处：《激光杂志》2021年第3期47-51,共5页Laser Journal

基　　金：武汉市企业创新项目(No.2019010702011314);中国铁建股份有限公司重大课题(No.2019-A02);广西高校中青年教师科研基础能力提升项目(No.2020KY06032);城市空间信息工程北京市重点实验室经费资助项目(No.2020217)。

摘　　要：为了提高SINS/GNSS组合导航系统的全局性能,考虑加速度与高斯包络对激光多普勒测速仪的影响,提出SINS/GNSS组合导航系统中激光多普勒测速仪参数估计方法。通过分析SINS/GNSS组合导航系统工作原理,明确SINS/GNSS组合系统状态;采用预先梯度评估方法,对梯度方向进行估计迭代,以提高导航定位精度,将获取的方位偏差代入卡尔曼滤波器中进行处理,保证SINS/GNSS组合导航系统实际应用的可靠性;获取对应费希尔信息矩阵,采用正弦信号的圆频率估计方差获取CRLB;分析激光多普勒测速仪测速过程中存在的问题;在信号成分参数分解前提下,将各距离门回波近似看作多个Chirp分量合成信号,对距离压缩后的数据实施自适应Chirplet分解,完成激光多普勒测速仪参数估计。实验结果表明:所提方法能够得到准确的参数估计数值,为SINS/GNSS组合导航系统的有效应用提供理论参考。In order to improve the global performance of SINS/GNSS integrated navigation system,considering the influence of acceleration and Gaussian envelope on laser Doppler velocimeter,a parameter estimation method of laser Doppler velocimeter in SINS/GNSS integrated navigation system is proposed. By analysing the working principle of the SINS/GNSS integrated navigation system,the SINS/GNSS integrated navigation system’s status is clarified. The gradient direction estimation iteration is adopted to improve the navigation and positioning accuracy. The azimuth deviation obtained is processed in the Kalman filter to ensure the reliability of the SINS/GNSS integrated navigation system’s practical application. The corresponding Fisher information matrix is obtained In this paper,the circular frequency estimation variance of the sinusoidal signal is used to obtain CRLB. The problems existing in the speed measurement process of laser Doppler velocimeter are analyzed;under the premise of signal component parameter decomposition,each range gate echo is approximately regarded as the composite signal of multiple chirp components,and the adaptive Chirplet decomposition is implemented to complete the parameter estimation of laser Doppler velocimeter. The experimental results show that the proposed method can obtain accurate parameter estimation values,which provides a theoretical reference for the effective application of SINS/GNSS integrated navigation system.

关 键 词：SINS/GNSS组合导航 激光多普勒测速仪 参数估计 圆频率 费希尔信息矩阵 Chirplet分解 

分 类 号：TN986[电子电信—信息与通信工程]