Double-antenna GNSS/INS deeply integrated navigation method and device

Abstract

The invention provides a double-antenna GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) deeply integrated navigation method and device. The device comprises a power supply module, an MEMS (Micro Electro Mechanical System) inertial measurement unit, a radio frequency module, an FPGA (Field Programmable Gate Array) module, a DSP (Digital Signal Processor) module and at least two antennas. According to the device, with the assistance of an INS, the probability of cycle slip of the GNSS can be reduced effectively, the integer ambiguity searching space of the GNSS is reduced, attitude measurement information is guaranteed to be continuously outputted, and the tracking loop robustness of the GNSS is enhanced; and with the assistance of a double-antenna GNSS, quick initial alignment of the INS can be realized, the attitude observability of the INS is improved, and the attitude divergence of the INS is inhibited.

Description

technical field [0001] The invention belongs to the technical field of satellite mobile communication, and in particular relates to a dual-antenna GNSS / INS deep integrated navigation method and device. Background technique [0002] INS (Inertial Navigation System, inertial navigation system) has the characteristics of autonomy, strong anti-interference and good concealment, and can continuously output navigation parameters such as position, speed, and attitude at high speed. time work requirements. GNSS (Global Navigation Satellite System, global satellite navigation system) can output position, speed, and time information with high precision around the world and around the clock. The navigation results do not accumulate over time, but the update rate of navigation data is generally less than 20Hz, and in high dynamic or strong interference environments The satellite signal will be lost and the navigation will not work. It can be seen that INS and GNSS have complementary a...

AI Technical Summary

Problems solved by technology

[0004] Due to the poor accuracy of MIMU, it is impossible to achieve initial alignment through sensitive earth rotation, so the GNSS receiver is used to output position / velocity information to assist alignment. Causes alignment not to be achieved or takes too long

[0005] On the other hand, due to the poor observability of the attitude of the integrated navigation system, the attitude angle will diverge when the carrier does not maneuver for a long time. Algorithm, the attitude angle will diverge

[0006] Patent CN201497509 discloses a dual-antenna GPS / INS integrated navigator, which introduces attitude observations through dual antennas to try to solve the problem of attitude angle divergence. In this device, because the satellite signal is blocked, the carrier-to-noise ratio is too low to easily cause the surrounding jump, and because it is easy to lose the satellite signal, and after losing the satellite signal, it will conduct a long-term full-circle ambiguity search, resulting in no attitude output for a long time and other problems

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