Research of Coherent Deep Integrated Navigation System Based on Vector Tracking

 In order to meet the navigation performance of integrated navigation system in high dynamic environment,a method of GNSS／SINS coherent deep integration navigation is designed based on vector tracking.The tracking and navigation solutions of all the visible satellite signals are integrated by using the vector tracking loop to strengthen auxiliary between channels. For the high dynamic impact more on PLL tracking,the DLL and PLL are separately processed by independent filters in the channel prefilter.In the combination filter, the state dimension is reduced by difference between channels to improve the computational efficiency. The SINS is introduced to predict the local signal parameters in high dynamic environment to accurately measure the acceleration of the receiver and satellite.The residual dynamics of the receiver are reduced and the accuracy of local signal parameters prediction is improved. Based on vector tracking software receiver, a coherent integration simulation system is set up. Experimental results show that the dynamic tracking capability can be effectively enhanced with this system, which can ensure the precision and reliability of the integrated system.