A Method of Integrated Navigation Information Fusion

Abstract

The invention discloses a combined navigation information fusion method. The method is mainly divided into a GNSS satellite signal processing module, a SINS attitude velocity position update module, a SINS error compensation module, a SINS / GNSS information fusion module, a SINS error correction module and a result output module . This method uses high-frequency SINS attitude, velocity, position update and low-frequency GNSS innovation measurement, combined with the elevation angle of each visible satellite tracked by the integrated navigation receiver and the carrier-to-noise ratio of the navigation signal, to adaptively adjust the Kalman filter of the SINS / GNSS integrated navigation in real time. Observe the noise matrix, update the combined navigation Kalman filter state equation and error covariance matrix through GNSS and SINS pseudorange and pseudorange rate measurements, and finally correct the measurement error of inertial devices through SINS and GNSS information fusion feedback. The integrated navigation information fusion method proposed by the invention can realize the complete and robust information fusion solution of the integrated navigation receiver in the complex electromagnetic environment, and has strong theoretical value and engineering application value of the integrated navigation receiver design.

Description

technical field [0001] The invention belongs to the technical field of satellite navigation, and in particular relates to a combined navigation information fusion method, which can effectively improve the positioning accuracy of strapdown inertial navigation and satellite navigation receivers. Background technique [0002] Global Navigation Satellite System (GNSS) can provide positioning, navigation and timing services for receivers, and plays an extremely important role in various industries. At present, the global satellite navigation system mainly includes GPS of the United States, BDS of China, GALILEO of Europe and GLONASS of Russia. The signal processing terminal of the navigation receiver extracts the GNSS navigation message and calculates according to the Interface Control Document (ICD) of each navigation system. Satellite space position and velocity, and then realize the receiver positioning solution. Inertial Navigation System (INS) is an autonomous dead reckonin...

AI Technical Summary

Problems solved by technology

[0003] In view of the fact that the measurement noise statistics in the traditional integrated navigation system are rough and cannot cope with the complex electromagnetic environment or the drastic changes of the mobile carrier in time, the present invention proposes an integrated navigation information fusion method, which can effectively deal with the reduction of filtering accuracy caused by the violent movement of the mobile carrier Even the problem of Kalman filter divergence has become a new technical requirement

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