城市遮挡与多路径环境下GNSS/INS组合定位方法  

GNSS/INS integrated positioning method in urban obstruction and multipath environments

作　　者：周勇 王鹤 王剑 ZHOU Yong;WANG He;WANG Jian(Zhejiang Engineering Geophysical Survey and Design Institute Co.,Ltd.,Hangzhou 310015,China)

机构地区：[1]浙江省工程物探勘察设计院有限公司,杭州310015

出　　处：《导航定位学报》2025年第1期113-118,共6页Journal of Navigation and Positioning

摘　　要：为了进一步提高全球卫星导航系统(GNSS)/惯性导航系统(INS)组合导航在城市遮挡与多路径环境下的定位精度,提出一种基于自适应滤波的GNSS/INS组合导航定位提升方案:结合改进的自适应滤波算法,对多路径及遮挡物环境下的信号干扰问题进行研究,以提高GNSS/INS组合导航定位的精度;然后通过改进自适应抗差滤波、新息异常判断及更合理地构建抗差因子,实现整合改进自适应滤波算法的GNSS/INS组合导航定位系统构建;最后在构建GNSS/INS组合导航定位整体系统框架的基础上,对系统关键技术包括改进的双窗口自适应滤波及新息占比的判断进行阐述。实验结果表明,通过对姿态角精度的提升效果及N、E、U三向位置误差减少情况2个方面进行对比,提出的方案对GNSS/INS组合导航定位的定位精度提升效果明显,运行更加可靠稳定。In order to further improve the positioning accuracy of global navigation satellite system(GNSS)/inertial navigation system(INS)integrated navigation in urban occlusion and multipath environments,the paper proposed a GNSS/INS integrated navigation positioning improvement scheme based on adaptive filtering:the signal interference in multipath and occlusion environments was analyzed by combining the improved adaptive filtering algorithms to improve the accuracy of GNSS/INS integrated navigation positioning;then,by improving adaptive robust filtering,detecting new anomalies,and constructing robust factors more reasonably,a GNSS/INS integrated navigation and positioning system integrated with improved adaptive filtering algorithms was constructed;finally,on the basis of constructing the overall framework of GNSS/INS integrated navigation and positioning system,the key technologies of the system,including improved dual window adaptive filtering and determination of the proportion of new information,were elaborated.Experimental result showed that through the comparison both on the improvement effect of attitude angle accuracy and the reduction of position errors in N,E and U directions,the proposed scheme would have a significant improvement effect on the accuracy of GNSS/INS integrated navigation positioning,and the operation could be more reliable and stable.

关 键 词：全球卫星导航系统(GNSS)/惯性导航系统(INS)组合导航 定位精度 松组合 新息异常 自适应滤波 

分 类 号：P237[天文地球—摄影测量与遥感] P228[天文地球—测绘科学与技术]