| 基于双差伪距/伪距率的GPS/SINS紧组合导航 |
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| 引用本文： | 张秋昭,张书毕,刘志平,郑南山.基于双差伪距/伪距率的GPS/SINS紧组合导航[J].武汉大学学报(信息科学版),2015,40(12):1690. |
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| 作者姓名： | 张秋昭 张书毕 刘志平 郑南山 |
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| 作者单位： | 1.中国矿业大学环境与测绘学院, 江苏 徐州, 221116; |
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| 基金项目： | 国家自然科学基金资助项目(41504032); 中央高校基本科研业务费专项资金资助项目(2015QNB08);江苏省高校优势学科建设项目(PAPD); 江苏省自然科学基金资助项目(BK20150175)。 |
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| 摘 要： | GPS/SINS组合导航系统的观测模型直接关系着导航系统的精度。提出了一种基于双差伪距/伪距率的GPS/SINS紧组合观测模型。分析了采用双差伪距和采用双差伪距/伪距率两种观测模型对组合导航输出参数精度的影响。实测数据结果表明,采用双差伪距和采用双差伪距/伪距率作为观测值均能实现组合导航系统的收敛。引入双差伪距率观测值明显改善了系统的可观测性,不仅提高了组合导航中速度和姿态角的估计精度,也加快了速度误差和姿态角误差估计的收敛速度。
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| 关 键 词： | 紧组合 双差观测值 组合导航 惯性导航系统 |
| 收稿时间： | 2015-05-18 |
Tightly-coupled GPS/SINS Integrated System Measurement Model Based on Double-difference Pseudo-range/Pseudo-range Rate |
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| Affiliation: | 1.1 School of Environment and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China;2.2 Key Laboratory for Land Environment and Disaster Monitoring of NASG, Xuzhou 221116, China |
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| Abstract: | GPS/SINStightly-coupled integration generally performs better than loosely coupled integration because they can get a navigation solution even if the number of GPS satellites is less than four. In order to improve the performance of GPS/SINS tightly-coupled integration, the measurement model of tightly-coupled GPS/INS based on double-difference pseudo-range/pseudo-range rate was proposed. The model based on double-difference pseudo-range was compared with the one based on both double-difference pseudo-range and double-difference pseudo-range rate The actual test shows that the two models can deal with the tightly-coupled integrated navigation. The accuracy of estimation and the convergent time of velocity and attitude error are improved by introducing double-difference pseudo-range rate. |
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