GNSS/INS ultra-tight combination navigation apparatus and relative navigation system thereof

An ultra-tight combined navigation and relative navigation technology, applied in the field of navigation, can solve the problems of complicated system implementation, high data processing speed, etc.

Inactive Publication Date: 2015-01-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0007] In order to solve the problem that most of the current GNSS/INS ultra-tight integrated navigation filter structures belong to centralized data processing, which requires high data processing speed and difficult implementation of complex systems, the present invention provides a GNSS/INS ultra-tight integrated navigation device, The device is implemented in a dist...

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  • GNSS/INS ultra-tight combination navigation apparatus and relative navigation system thereof
  • GNSS/INS ultra-tight combination navigation apparatus and relative navigation system thereof
  • GNSS/INS ultra-tight combination navigation apparatus and relative navigation system thereof

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Embodiment Construction

[0037] Such as figure 1 Shown, a kind of GNSS / INS ultra-tight integrated navigation device of the present invention, this device realizes based on distributed filtering structure, comprises GPS radio frequency front-end, inertial measurement unit, tracking capture loop unit and combined filter; Described tracking capture loop The road unit includes N visible satellite channels, and each visible satellite channel corresponds to an integral processing unit and a slave filter; the GPS RF front-end receives satellite signals, performs power amplification, frequency conversion and digital-to-analog conversion, and sends the converted data to The tracking capture loop unit, the I and Q signals of each visible satellite channel in the tracking capture loop unit are processed by the corresponding integral processing unit and then sent to the corresponding slave filter for preprocessing to obtain the state vector of the slave filter; the combined filter The measurement information of t...

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Abstract

The invention discloses a global navigation satellite system (GNSS)/inertial/navigation system (INS) ultra-tight combination navigation apparatus and a relative navigation system thereof. On the basis of the traditional GNSS/INS ultra-tight combination navigation apparatus, the provided GNSS/INS ultra-tight combination navigation apparatus uses a distributed filtering structure. Slave filters are used for carrying out pretreatment on I,Q signals of all satellite channels; and the processed information is sent to a combined filter. Meanwhile, the GNSS/INS ultra-tight combination navigation apparatus is also applied to a relative navigation system; while the navigation state and the inertia measurement of a carrier itself are received, navigation information and a carrier phase of another carrier are also received; with a dual-different carrier phase and inertia measurement, recursion filtering resolving is carried out by using an optimal kalman filter and an optimal relative position and a relative speed between each two carriers among multiple carriers are estimated.

Description

technical field [0001] The invention belongs to the field of navigation, in particular to a GNSS / INS ultra-compact combined navigation device and a relative navigation system. Background technique [0002] Global Navigation Satellite System GNSS (Global Navigation Satellite System), Inertial Navigation System INS (Inertial Navigation System); GNSS / INS ultra-tight integrated navigation is the research hotspot of integrated navigation in recent years. Satellite navigation and inertial navigation have complementary advantages, and the combination of the two can effectively solve the problems of satellite navigation signals being interfered by geographic location and environment, and inertial navigation system measurement errors accumulating over time. GNSS / INS combination methods include loose combination, tight combination and ultra-tight combination. Among them, the ultra-tight combination method is a research hotspot in this field. This method uses the assistance of inerti...

Claims

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Application Information

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IPC IPC(8): G01S19/47
CPCG01C21/165G01S19/44G01S19/47G01S19/51G01S19/52
Inventor 刘海颖吴风喜华冰陈志明陈西北邵珠君刘聪
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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