Research of Coherent Deep Integrated Navigation System Based on Vector Tracking
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摘要: 为满足组合导航系统在高动态环境下的性能要求,设计基于矢量跟踪的GNSS／SINS相干深组合导航方法。利用矢量跟踪环路将所有可视卫星的跟踪和导航解算融为一体,增强通道间的辅助;高动态对载波跟踪影响更大,在通道预滤波中将码环载波环分别用独立的滤波器处理,组合滤波中采用通道间差分降低滤波状态维数,提高计算效率。引入惯导的加速度辅助本地信号参数预测,较精确地测量卫星视线方向的加速度,减小接收机在高动态时段的剩余动态,提高本地信号参数的预测精度。基于矢量跟踪软件接收机搭建相干深组合仿真系统,实验表明该方法在高动态等环境下能提高信号跟踪性能,改善系统的精度、可靠性。Abstract: 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 prefilter.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.
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Key words:
- Integrated navigation /
- vector tracking /
- coherent deep integration /
- High dynamic
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