部分模糊度固定方法在GNSS/INS紧组合中的应用研究

针对动态环境下GNSS/INS导航定位模糊度固定难的问题,提出了一种基于部分模糊度固定的GNSS/INS紧组合导航定位算法,通过选择模糊度的最优子集进行固定,并利用实测车载实验进行了算法验证.实验结果表明:在开阔环境下,基于部分模糊度固定的GNSS/INS紧组合与基于全模糊度固定的GNSS/INS紧组合算法的定位精度相当,均为厘米级,但是使用部分模糊度固定算法可以有效地提升模糊度固定率;在城市环境下,基于部分模糊度固定的算法明显优于基于全模糊度固定的算法,前者东向精度提升了8％、北向精度提升了31％、天向精度提升了60％,且模糊度固定率提升了21.8％.

The Application of GNSS/INS Tightly-Coupled Algorithm Based on Partial Ambiguity Resolution

Aiming at the difficulty of ambiguity resolution in GNSS/INS navigation and positioning under dynamic environment, a GNSS/INS tightly-coupled integrated navigation and positioning algorithm based on partial ambiguity resolution is proposed, which is fixed by selecting the optimal subset of ambiguity. The algorithm verification is carried out by using on-board experiments. The experiment results show that in an open environment, the positioning accuracy of the GNSS/INS tightly-coupled integrated algorithm based on partial ambiguity resolution is comparable to the positioning accuracy of the GNSS/INS tightly-coupled integrated algorithm based on full ambiguity resolution, and their positioning accuracy is centimeter-level, but the partial ambiguity fixed algorithm could effectively improve the fixed rate of ambiguity. In the urban environment, the positioning accuracy of the algorithm based on the partial ambiguity resolution is significantly better than that of the algorithm based on the full ambiguity resolution, the former is improved by 8% in the E direction, 31% in the N direction, and 60% in the U direction, and the fixed rate of ambiguity is increased by 21.8%.