城市遮挡环境下NHC增强GNSS/INS深组合系统研究  

Research on NHC Enhanced GNSS/INS Deep Integration System Under Urban Shelter Environment

作　　者：沈聪 高铭 陈夏兰 刘玥 SHEN Cong;GAO Ming;CHEN Xialan;LIU Yue(School of Automation,Beijing Information Science and Technology University,Beijing 100192,China;Aerospace Information Research Institute,Chinese Academy of Sciences,Beijing 100094,China;School of Electronic,Electrical and Communication Engineering,University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]中国科学院空天信息创新研究院,北京100094 [3]中国科学院大学电子电气与通信工程学院,北京100049

出　　处：《无线电工程》2025年第1期105-112,共8页Radio Engineering

基　　金：中国科学院青促会优秀会员(E03314020D);中国科学院科研仪器设备研制项目(YJKYYQ20200069)。

摘　　要：在卫星信号完全中断的情况下,全球导航卫星系统(Global Navigation Satellite System,GNSS)/惯性导航系统(Inertial Navigation System,INS)深组合系统只能依靠纯INS进行导航定位,中断时间越长INS累积误差越大,导致信号恢复后环路难以进入跟踪状态,定位误差逐渐发散。针对上述问题,根据INS辅助GNSS接收机跟踪环路模型,分析了INS累积误差对跟踪环路的影响,构建了基于非完整性约束(Non-Holonomic Constraint,NHC)的GNSS/INS组合导航滤波器,进行了仿真分析。仿真结果表明,相比于无NHC辅助的GNSS/INS深组合系统,提出的方案能显著缩短信号恢复后的载波相位入锁时间,降低了信号恢复后的速度与位置均方根误差(Root Mean Square Error,RMSE)值。在直线行驶和拐弯行驶的车辆运动场景下,环路牵引跟踪时间分别从200 ms和350 ms缩短至10 ms以内;在信号恢复后10 s内,速度RMSE值分别降低了86.52%和71.94%,位置RMSE值分别降低了46.43%和87.49%。In the case of complete satellite signal outage,the Global Navigation Satellite System(GNSS)/Inertial Navigation System(INS)deep integration system can only rely on pure INS for navigation and positioning.The longer the outage,the greater the cumulative error of INS will be,thus it is difficult for the loop to enter the tracking state after signal recovery,and the positioning error diverges gradually.In order to solve the above problems,firstly,based on the model of tracking loop of GNSS receiver aided by INS,the influence of the INS cumulative error on the tracking loop is analyzed,then the GNSS/INS integrated navigation filter based on Non-Holonomic Constraint(NHC)is constructed,and finally the simulation analysis is carried out.The simulation results show that the proposed scheme can significantly shorten the carrier phase lock-in time after signal restoration compared with the GNSS/INS deep integration system without NHC assistance,the Root Mean Square Error(RMSE)of the position and velocity after signal restoration is reduced.The loop traction tracking time is shortened from 200 ms and 350 ms to less than 10 ms in the straight-line and turn-around vehicle motion scenarios,respectively,and within 10 s after signal recovery,the velocity RMSE value is decreased by 86.52%and 71.94%respectively,and the position RMSE value decreased by 46.43%and 87.49%,respectively.

关 键 词：城市复杂环境 信号中断 深组合 非完整性约束 

分 类 号：TN967.1[电子电信—信号与信息处理]