Synchronous simulation system of GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) integrated navigation

Abstract

The invention discloses a synchronous simulation system of a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) integrated navigation. The synchronous simulation system includes a carrier motion trajectory generation module, a GNSS simulation subsystem, an INS simulation subsystem, a radio frequency module, and a clock shunt synchronization module; the carrier motion trajectory generation module, according to a set carrier type and a motion type and parameter, generates a carrier motion parameter; the clock shunt synchronization module includes a clock synchronization unit and an inertial navigation data output unit; the clock synchronization unit through a clock synchronization bus is connected with the inertial navigation data output unit and the GNSS simulation subsystem; and the INS simulation subsystem includes an inertial measurement device simulation module and an inertial navigation positioning calculation module. In the invention, the synchronous simulation of the GNSS signal and the INS data is realized, can meet the test requirements of loose integrated navigation system, tight integrated navigation system, and deep integrated navigation system of the GNSS / INS.

Description

technical field [0001] The invention relates to a synchronous simulation system of integrated navigation of satellite navigation (GNSS) and inertial navigation (INS), which realizes the synchronous simulation of satellite navigation signal and inertial navigation data, and can meet the requirements of GNSS / INS loose integrated navigation system, tight integrated navigation system and The test of the deep integrated navigation system provides a comprehensive simulation environment for the development and testing of the integrated navigation system of vehicles, ships, aircraft, missiles and other high-precision and high-dynamic carriers. Background technique [0002] The GNSS signal simulator simulates various satellite navigation signals received by the receiver according to the influence of various factors such as the dynamic characteristics of the carrier, thereby providing a simulation environment for the development and testing of the receiver. Due to the shortcomings of ...

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Problems solved by technology

[0005] However, the GNSS signal simulator and the INS simulation system are two separate simulation systems, and the synchronization of the output signal of the GNSS signal simulator and the output data of the INS simulation system cannot be guaranteed

The out-of-synchronization of GNSS signal output and INS data output and the inconsistency of output frequency sometimes lead to the need to design multiple filters for the receiver, thus increasing the amount of data for navigation calculation

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