惯性卫星紧组合导航系统仿真分析

针对SINS/Satellites进行松组合的不足，直接利用卫星信号接收机原始测量信息(伪距、伪距率)，实现紧组合，来提高组合导航系统的精度和抗干扰性。文中详细推导了紧组合导航系统的伪距、伪距率误差模型，以伪距、伪距率差作为输入进行反馈，不仅当可见星数目小于4颗的时候，可以进行反馈，保证了一定的导航精度，而且可以用INS提供导航信息辅助接收机快速捕获卫星信号，这就提高了组合导航系统的容错能力。设计了SINS卫星紧组合导航系统的Kalman滤波器，并进行仿真验证，结果表明，SINS卫星紧组合较松组合有明显优势。

Analysis of Tightly Coupled SINS/Satellites Integrated System

Against the insufficient of loosely coupled SINS/Satellites, we use the raw measurement information (pseudo-range and pseudo-range rate) of the receiver to realize the integration, which improve the accuracy and the reliability of the integrated navigation system. In this paper, we derive the error model of pseudo-range and pseudo-range rate in detail, use the raw information to feedback directly. When the satellites in vision are less than 4, the information can be feedback as well, which guarantee certain precision of the navigation system. The information of SINS help the receiver with satellites capturing, which improves the fault tolerance of the integrated navigation system. It is proved that the tightly coupled SINS/Satellites system is more outstanding than loosely coupled systems. The simulation test is proceeded with Kalman filter.