High-precision Beidou tri-band SINS deep integration navigation system

Abstract

The invention relates to a high-precision Beidou tri-band SINS deep integration navigation system, wherein the Beidou receiver navigation error eliminating method and the ambiguity solving method are considered, and a Beidou navigation satellite system and an SINS help each other for combined navigation. Through the TCAR method, the whole cycle ambiguity is accurately and efficiently solved, and therefore the high-precision carrier phase measurement is conducted; through tri-band data signals, ionospheric refraction errors can be solved according to the equation set composed of ionospheric refraction error calculation formulas, and then the positioning precision is improved. The system focuses on solving the problem that the deep integration navigation system relies on the accuracy of the SINS, the navigation precision of a receiver is improved through Beidou tri-band data fusion, the requirements for the posture, speed and position precision of the SINS is lowered, the anti-interference capacity and the comprehensive accuracy of the Beidou tri-band receiver and SINS combined navigation system are improved, and the performance of armament and important civil carrying tools can be improved.

Description

technical field [0001] The invention relates to a high-precision Beidou triple-frequency SINS deep integrated navigation system, which belongs to the field of integrated navigation. Background technique [0002] China's Beidou satellite navigation system is steadily advancing in accordance with the three-step development strategy, and currently has regional navigation capabilities. After completing the three-step strategy, it will have global navigation capabilities. Beidou satellites can simultaneously broadcast signals of three frequencies, namely B1 (1561.1MHz), B2 (1207.14MHz), and B3 (1268.52MHz). With the maturity of Beidou satellite navigation technology, it has been widely used in both military and civilian fields. [0003] Compared with traditional inertial navigation technology, satellite navigation has the following characteristics: global continuous coverage, realizing seamless connection of global navigation and positioning; high precision and independent of t...

AI Technical Summary

Problems solved by technology

[0008] a) Due to the single observation data of the single-frequency receiver, it is impossible to eliminate the error caused by ionospheric refraction through the simultaneous equations, so it cannot obtain high positioning accuracy;

[0009] b) Similarly, the observation data is single, and it is impossible to solve the carrier phase integer ambiguity, so it is impossible to obtain high-precision carrier phase observations;

[0010] c) The positioning accuracy of the single-frequency receiver limits the auxiliary effect on SINS, and also limits the auxiliary effect of integrated navigation on receiver capture and tracking;

[0011] d) In order to adapt to the highly dynamic working environment and avoid the loss of receiver lock, high-precision SINS is required for assistance, and high-precision SINS has the characteristics of large volume and weight, high power consumption, and high cost, which is not conducive to engineering applications

Images