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Cascaded GNSS/SINS deep integrated navigation method

A deep integrated navigation and integrated navigation technology, which is applied in the field of cascaded GNSS/SINS deep integrated navigation, can solve problems involving high-dimensional Kalman filter and high-frequency calculations, and achieve the effect of improving performance

Inactive Publication Date: 2016-12-07
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, due to the highly nonlinear relationship between the observed quantity and the state quantity in the model, it involves high-dimensional Kalman filter and high-frequency calculation problems, which is difficult to put into practice

Method used

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  • Cascaded GNSS/SINS deep integrated navigation method
  • Cascaded GNSS/SINS deep integrated navigation method
  • Cascaded GNSS/SINS deep integrated navigation method

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Embodiment Construction

[0012] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0013] Such as figure 1 , 2 As shown, the cascaded GNSS / SINS deep integrated navigation method of the present invention is specifically realized as follows:

[0014] The radio frequency signal received by the GNSS antenna, taking the GPS satellite L1 frequency point as an example, the signal transmitted by the satellite is expressed as:

[0015] S L 1 ( t ) = 2 A · D ( t ) · C ( t ) · c o s [ ω L 1 t + φ ...

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Abstract

The invention discloses a cascaded GNSS / SINS deep integrated navigation method. The method comprises a step of designing a vector tracking loop: a carrier discriminator and a code discriminator output measurement information for a guide filter and are used for estimating receiver position, speed, clock error and clock drift, and the estimated information is used for calculating a receiver loop parameter, a step of building an integrated guide main filter model: the integrated guide main filter receives the measurement information outputted by a GNSS tracking channel and an SINS, and updates a state variable and feeds a navigation error parameters back to an SINS system to correct an SINS system error, a step of calculating a loop parameter by using inertial information: an integrated system calculates a tracking loop parameter by using the corrected SINS navigation information and ephemeris information and is used for controlling the local pseudo code of the receiver and a carrier digital controlled oscillator so as to maintain the stable tracking of an input signal. The method has good anti-interference performance and instantaneous signal bridge connection ability, a good positioning effect can be obtained in a high dynamic environment and a weak signal environment, and prospect of application is wide.

Description

technical field [0001] The invention relates to the technical field of satellite navigation and integrated navigation, in particular to a cascading GNSS / SINS deep integrated navigation method. Background technique [0002] The GNSS system refers to the global navigation satellite system. The satellite navigation system has the advantages of all-weather and all-time, but it is susceptible to electromagnetic interference, and star loss and lock-up may occur under high dynamic conditions; A fully autonomous navigation system that does not radiate energy outside has the advantages of small size, high data update rate, and high short-term accuracy, but has the disadvantage that navigation accuracy decreases with time. Therefore, the two are often combined to form a SINS / GNSS integrated navigation system. With the continuous improvement of the carrier's demand for the comprehensive performance of the navigation system, the research on GNSS / SINS integrated navigation technology ha...

Claims

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Application Information

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IPC IPC(8): G01S19/49G01C21/16
CPCG01S19/49G01C21/165
Inventor 陈帅蒋长辉陈克振屈新芬韩乃龙沈际春卢启伟赵琛孔维一黄思亮
Owner NANJING UNIV OF SCI & TECH
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