基于BDS/INS紧组合的动对动相对导航算法  

Kinematic-to-kinematic relative navigation algorithm based on BDS and INS tightly coupled

作　　者：付希禹 孙永荣[1] 吴玲[1,2] 曾庆化 刘建业[1] FU Xiyu;SUN Yongrong;WU Ling;ZENG Qinghua;LIU Jianye(Navigation Research Center,College of Automation Engineering,Nanjing University of Aeronautics&Astronautics,Nanjing 211106,China;School of Mechatronical Engineering and Automation of Nanhang Jincheng College,Nanjing 211156,China)

机构地区：[1]南京航空航天大学自动化学院导航研究中心,南京211106 [2]南京航空航天大学金城学院机电工程与自动化学院,南京211156

出　　处：《中国惯性技术学报》2022年第2期224-228,280,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(61533008、61873125)。

摘　　要：针对动对动相对定位中卫星观测质量不佳、信号易丢失导致北斗卫星导航系统定位精度不高、无法连续定位的问题,提出了一种基于BDS/INS紧组合的动对动相对导航算法。通过惯导系统与北斗卫星导航系统紧组合的方式,以捷联惯导误差作为组合系统状态量,通过多普勒信息进行伪距平滑,并利用扩展卡尔曼滤波将惯导及卫星观测信息进行融合,解算相对导航结果。通过车载实验对所提出的相对导航算法进行了验证,实验结果表明,所提出的BDS/INS紧组合动对动相对导航算法能够保持分米级相对导航精度,卫星信号短时中断时,能有效保持高精度相对导航结果输出。In order to improve the accuracy of BeiDou satellite navigation system(BDS)and solve the discontinuous positioning problem in global navigation satellite system(GNSS)challenging environments,the kinematic-to-kinematic relative navigation algorithm based on BDS and INS tightly coupled is proposed.With the tightly-coupled integration of BDS and INS,the strapdown inertial navigation error is taken as the state vector.Then,the pseudorange observation is smoothed by Doppler.The extended Kalman filter is used to fuse the inertial information and satellite observations,and the results of relative navigation are solved finally.The vehicular experiment is conducted to investigate the performance of the proposed relative navigation algorithm.The results show that the proposed algorithm has attained dm-level and maintains continuous relative navigation due to the INS bridging capability when the satellite signals are not available.

关 键 词：北斗导航 惯性导航 紧组合 动对动 相对导航 扩展卡尔曼滤波 

分 类 号：P228.1[天文地球—大地测量学与测量工程]