GNSS/INS松、紧组合导航算法的等价性条件  

The equivalence conditions of the algorithms of the GNSS/INSloosely and tightly coupled navigation

作　　者：闫文林 严泰明 潘兴驰 王坚 Yan Wenlin;Yan Taiming;Pan Xingchi;Wang Jian(School of Geography,Geomatics&Planning,Jiangsu Normal University,Xuzhou 221116,Jiangsu,China;School of Geomatics&Urban Spatial Informatics,Beijing University of Civil Engineering&Architecture,Beijing 102616,China)

机构地区：[1]江苏师范大学地理测绘与城乡规划学院,江苏徐州221116 [2]北京建筑大学测绘与城市空间信息学院,北京102616

出　　处：《江苏师范大学学报（自然科学版）》2024年第3期64-69,共6页Journal of Jiangsu Normal University：Natural Science Edition

基　　金：国家自然科学基金资助项目(42274029);江苏省自然科学基金资助项目(20181015)。

摘　　要：GNSS/INS不同组合导航算法性能的讨论,一直是导航定位领域关注的热点.本文对GNSS/INS松、紧组合2种经典导航算法的等价性条件进行了理论推导和实验验证.首先,给出独立GNSS初值结构和集成GNSS初值结构2种模式在GNSS/INS松、紧2种组合算法中的应用方法,并在集成GNSS初值结构模式下推导出松、紧组合2种算法在导航状态参数以及方差协方差方面的等价性条件.然后,通过车载测试验证了不同算法的精度、运行效率及等价性,发现在GNSS理想观测条件下,松、紧组合2种算法的运行时间、导航坐标和方差协方差完全一致,验证了2种算法的等价性条件.The discussion on the performance of different coupled navigation algorithms in GNSS/INS has been a hot topic in the field of navigation and positioning.This article provided theoretical derivation and experimental verification of the equivalence conditions for two classic navigation algorithms,namely GNSS/INS loose and tight coupled.Firstly,the application methods of independent GNSS initial value structure and integrated GNSS initial value structure in loose and tight GNSS/INS combination algorithms were discussed in detail,and the equivalence conditions of the loose and tight combination algorithms under navigation state parameters and variance-covariance were derived in the GNSS initial value structure mode.Then,the accuracy,operational efficiency,and equivalence of different algorithms were verified through in vehicle testing.It was found that under the ideal observation conditions of GNSS,the consumed time,navigation coordinates estimations,and variance-covariance of the two algorithms were completely consistent,verifying the equivalence conditions of the two algorithms.

关 键 词：GNSS/INS组合导航 KALMAN滤波 等价性 

分 类 号：P228[天文地球—大地测量学与测量工程] U666.1[天文地球—测绘科学与技术]