| 双天线GPS/MEMS-INS深组合导航方法研究 |
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| 引用本文： | 龙腾,穆荣军,苏炳志,崔乃刚. 双天线GPS/MEMS-INS深组合导航方法研究[J]. 宇航学报, 2021, 42(1): 92-102. DOI: 10.3873/j.issn.1000-1328.2021.01.010 |
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| 作者姓名： | 龙腾 穆荣军 苏炳志 崔乃刚 |
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| 作者单位： | 哈尔滨工业大学航天学院，哈尔滨 150001 |
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| 摘 要： | 针对低成本惯性/卫星组合导航系统在复杂环境中易受环境干扰、航向精度较差等问题,对双天线GPS/MEMS-INS深组合导航方法开展研究.考虑不同信号强度下的跟踪特性,基于矢量延迟锁定环(VDLL)、二阶锁相环(PLL)、速度辅助的一阶锁相环,设计了分别适应强信号、弱信号、失锁状态的跟踪环路结构.同时提出一种实用的信号强度...
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| 关 键 词： | 双天线 深组合 矢量跟踪 卡尔曼滤波 |
| 收稿时间： | 2019-10-29 |
Research on Dual antenna GPS/MEMS-INS Deeply integrated Navigation Approach |
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| LONG Teng,MU Rong jun,SU Bing zhi,CUI Nai gang. Research on Dual antenna GPS/MEMS-INS Deeply integrated Navigation Approach[J]. Journal of Astronautics, 2021, 42(1): 92-102. DOI: 10.3873/j.issn.1000-1328.2021.01.010 |
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| Authors: | LONG Teng MU Rong jun SU Bing zhi CUI Nai gang |
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| Affiliation: | School of Astronautics, Harbin Institute ofTechnology, Harbin 150001, China |
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| Abstract: | The low cost INS/GNSS integratednavigation system is susceptible and has a larger heading error in complexenvironment. For solving these problems, a dual antennaGPS/MEMS INS deeply integratednavigation approach is studied. Considering the tracking characteristics ofsignals with different intensities, three tracking structures are designed forstrong signal, weak signal and loss of lock status based on vector delay lockedloop (VDLL), second order phase locked loop (PLL) and velocity aided first order PLL respectively. A practical method of estimating signalintensity is presented to prevent channels with large error from participatingin the calculation of navigation filter, and the navigation accuracy isimproved. In order to ensure the heading accuracy, two antennas are used. Thecarrier phase difference of the two antennas is added into the measurement ofthe navigation filter. A phase difference measurement equation in which thepitch information is isolated is constructed by using the line of sight vector horizontal projectiontransformation. Vehicular navigation test shows that the designed navigationsystem can provide continuous and high precisionnavigation output in urban environment. |
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| Keywords: | Dual antenna Deeply integrated Vector tracking Kalman filter |
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