SINS/GPS super-compact integrated navigation system and implementing method thereof

A technology of an integrated navigation system and an implementation method, which is applied in the field of SINS/GPS ultra-compact integrated navigation system, can solve the problems of carrier tracking loss, low carrier-to-noise ratio of received signals, and inability to extract navigation messages, so as to improve measurement accuracy, The effect of increasing the equivalent bandwidth and reducing the dynamic tracking range

Inactive Publication Date: 2010-03-10
BEIHANG UNIV
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Problems solved by technology

If the carrier Doppler frequency shift caused by carrier dynamics is too large or the carrier-to-noise ratio of the received signal is too low, the carrier tracking will be lost and the navigation message cannot be extracted, so that the receiver cannot complete the navigation task independently. The combo system is deadly

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  • SINS/GPS super-compact integrated navigation system and implementing method thereof
  • SINS/GPS super-compact integrated navigation system and implementing method thereof
  • SINS/GPS super-compact integrated navigation system and implementing method thereof

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Embodiment Construction

[0041]The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0042] A kind of SINS / GPS ultra-compact integrated navigation system of the present invention, as figure 1 As shown, it includes a strapdown inertial navigation system 1, a GPS receiver 2, an integrated navigation filter 3 and an auxiliary parameter calculation unit 4;

[0043] A strapdown inertial navigation system (SINS) 1 includes an inertial measurement unit (IMU) 101 and a navigation solving unit 102 . The inertial measurement element 101 measures the specific force and angular velocity of the carrier, and transmits the obtained specific force and angular velocity information to the navigation solution link 102, and the navigation solution unit 102 obtains the position, velocity and Attitude, and converted to the distance ρ between the satellite and the carrier I and distance rate Input in the integrated navigation filter 3, the navigation cal...

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Abstract

The invention discloses an SINS/GPS super-compact integrated navigation system and an implementing method thereof. The method comprises the following steps: the doppler frequency assistance is provided for a GPS carrier loop by using the velocity information of a strapdown inertial navigation system, therefore, the loop equivalent bandwidth is increased, the influence of the carrier dynamic stateon the carrier loop is lowered, and the noise suppression capability is improved by reducing the bandwidth of a filter; meanwhile, in order to eliminate the correlation between the pseudo-range rate error and the inertial navigation error, a carrier loop tracking error model is obtained by establishing the relationship between the carrier tracking error and the inertial navigation speed error, andthe influence of the carrier tracking error is subduced in the measurement equation; and in addition, the carrier frequency is adjusted according to the output error estimation information, and the tracking accuracy of the carrier loop is enhanced. The invention can effectively enhance the noise suppression capability and the dynamic tracking performance of the tracking loop and enhance the tracking accuracy of a GPS receiver and the navigation accuracy of the integrated navigation system under strong interference and high dynamic circumstance.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to a SINS / GPS ultra-compact integrated navigation system and an implementation method. Background technique [0002] Strapdown Inertial Navigation System (SINS) is a completely autonomous navigation system that can provide position, velocity and attitude information continuously and in real time. It has high short-term accuracy, good concealment, and is not limited by weather conditions. , and thus widely used in aviation, aerospace, navigation and other fields. However, the SINS error increases with time, so it is often combined with the GPS global satellite positioning system to form a SINS / GPS integrated navigation system. GPS and SINS have strong complementarity in performance. The combination of the two can not only give full play to their respective advantages, but also with the deepening of the combination, the overall performance of the SINS / GPS co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S1/02G01S5/02
Inventor 王新龙于洁
Owner BEIHANG UNIV
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