一种新的SINS/GPS深组合导航系统设计

为了提高GPS在高动态、强干扰条件下的跟踪性能和导航精度，提出了一种新的SINS/GPS深组合导航方案.利用卡尔曼滤波器反馈回路取代了传统接收机中独立、并行的跟踪回路，能够同时完成所有可视卫星信号和组合导航信息处理的任务；利用矢量跟踪算法加强各跟踪通道相互关联，增强跟踪通道对信号载噪比变化的适应能力，从而提高接收机在信号中断条件下的导航性能；利用相关器输出的I和Q路测量值直接作为导航滤波器的观测量，减小滤波过程残差，可以提高组合导航系统的导航精度和跟踪性能.仿真验证表明，这种基于矢量跟踪的深组合导航方案不仅在GPS信号中断期间能够保证系统的导航精度和可靠性，而且在低载噪比条件下可以增强导航系统的跟踪性能以及抗干扰能力.

Novel design for deeply integrated GPS/INS navigation system

In order to enhance the tracking performance and navigation accuracy in high-dynamic and severe jamming conditions, a new deeply integrated navigation scheme of strapdown inertial navigation system/global positioning system (SINS/GPS) based on vector tracking was proposed. This scheme utilized the feedback loop of integrated Kalman filter to replace the independent and parallel tracking loops in traditional receivers, which enabled GPS receivers accomplish the tasks of available GPS satellite signals tracking and integrated navigation information processing synchronously. Vector tracking algorithm was used to enhance the correlations of tracking channels and strengthen the adaptability of changes of carrier-to-noise power density ratio (C/N₀) for tracking channels, so that it could improve navigation performance during brief signal outage. This deeply integrated system treated the Is and Qs measurements as the measurements of the navigation filter directly, which could decrease residual errors of the filter and improve the navigation accuracy and tracking performance of this navigation system. The simulation results indicate that this deep integration scheme based on vector tracking could not only guarantee the navigation precision and reliability of the integrated system during brief signal outage, but also improve perfect tracking performance and anti-jamming capability at low (C/N₀) level.