| INS辅助的实时动态GNSS单频周跳探测 |
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| 引用本文： | 王凌轩,甘雨,隋立芬,田源,刘乾坤.INS辅助的实时动态GNSS单频周跳探测[J].武汉大学学报(信息科学版),2019,44(3):364-370. |
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| 作者姓名： | 王凌轩 甘雨 隋立芬 田源 刘乾坤 |
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| 作者单位： | 1.武汉大学测绘学院, 湖北 武汉, 430079 |
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| 基金项目： | 国家自然科学基金41674016国家自然科学基金41874036信息工程大学创新创优基金XS201504 |
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| 摘 要： | 采用全球卫星导航系统（Global Navigation Satellite System，GNSS）模糊度固定解可提高GNSS/惯性导航系统（inertial navigation system，INS）组合导航定位精度，而在复杂环境下，单频GNSS难以实现完善的实时动态周跳探测，影响GNSS模糊度保持。研究了星间单差与站星双差的INS辅助GNSS单频周跳探测检验量，重点分析检验量的误差特性。分析得出检验量误差主要与INS增量误差有关，受接收机至待检星与参考星之间星地矢量夹角的影响。提出了选取两颗参考星并优选探测检验量的方法，降低方位角因素的影响，提高周跳探测性能。周跳探测的阈值在滑动窗口内估计，对INS误差被GNSS误差淹没的部分进行抑制，充分反映INS误差影响，阈值估计具有较强的自适应性。
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| 关 键 词： | GNSS/INS 周跳 单频 参考星 方位角 滑动窗口 |
| 收稿时间： | 2018-04-18 |
INS-Aided Single-Frequency Cycle-Slip Detection for Kinematic GNSS |
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| Institution: | 1.School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China2.Institute of Geospatial Information, Information Engineering University, Zhengzhou 450001, China |
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| Abstract: | Global Navigation Satellite System (GNSS) ambiguity fixed solution can greatly improve the accuracy of GNSS/inertial navigation system (INS) integrated system. But it is difficult to achieve perfect real-time dynamic single-frequency cycle-slip detection merely by GNSS observations especially in complex environment. Inertial aided cycle-slip detection term (DT) based on station-satellite double-differences and satellite single-difference observations are derived. The error characteristic of the DT is analyzed comprehensively. DT error is influenced by the error of INS positioning increment and this error of each satellite is related to the angle between its station-satellite vector and that vector of the base satellite. Thus, it is of importance to select base satellite. It is proposed that two group of DT can be used together by selecting two different base satellites. The threshold of detection is estimated in a moving window, where the DTs, whose INS error is submerged in GNSS error, are eliminated to reflect the effects of INS error. The threshold has strong self-adaptability. |
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