基于铱星/INS组合定位技术在船舶中的应用研究

GNSS拒止环境下惯性/GNSS组合导航系统的性能会严重恶化,通过利用并提取机会信号中的有用观测量,可以实现机会信号和惯性系统的联合动态定位。提出了利用铱星/INS组合定位技术实现船舶的动态定位。首先深入研究了铱星的信号体制,建立了利用铱星瞬时多普勒频移进行定位的算法模型;然后,提出了利用基于扩展卡尔曼滤波(EKF)技术的铱星机会信号与INS组合定位算法;最后,通过船舶航行实测数据对所提算法进行了试验验证。结果表明,提出的利用铱星机会信号和INS组合定位方法可以有效改善无GNSS信号条件下的INS定位精度,在GNSS信号拒止环境下解决了船舶定位问题,具有重要的研究意义和实用价值。

Research on the Application of Iridium/INS Integrated Positioning Technology in Ship

The performance of inertial/GNSS integrated navigation system will deteriorate seriously in GNSS-denied environment. By using and extracting useful observations from opportunity signal, the joint dynamic positioning of opportunity signal and inertial system can be realized. In this paper, the iridium/INS integrated positioning technology is proposed to realize the dynamic positioning of the ship. Firstly, the signal system of Iridium is studied deeply, and the algorithm model of positioning using the instantaneous Doppler shift of Iridium is established. Then, a combined localization algorithm of Iridium opportunity signal and INS based on Extended Kalman Filter (EKF) technology is proposed. Finally, the ship navigation test of the proposed algorithm is verified by the measured data. The results show that the positioning accuracy of INS system without GNSS signal can be improved effectively by using iridium satellite opportunity signal and inertial navigation system. The realization of ship positioning in GNSS-denied environment has important research significance and practical value.