GNSS/INS深组合技术研究进展与展望

在GNSS/INS组合导航领域，深组合是最深层次的组合方式，随着航空、航天、军事等应用对导航系统性能要求的提升，深组合技术逐步成为国内外研究的重点。通过对GNSS/INS深组合的技术起源与结构发展过程的梳理，总结出当前对深组合概念理解的两种立场。按照接收机环路跟踪结构与信息处理方式不同，将深组合结构分为标量深组合、相干矢量深组合以及非相干矢量深组合3种类型，其中相干矢量深组合又可以分为级联式和集中式两种结构。综述了国内外深组合技术的研究现状并指出了当前研究中存在的问题，最后结合实际应用需求对深组合的发展进行了展望。

Research progress and prospects of GNSS/INS deep integration

With the improvement of the performance requirements of the navigation system in aviation, aerospace and military applications, the GNSS/INS deep integration has gradually become the research focus as it is the deepest way of GNSS/INS integration. This paper has introduced different understandings of the deep integration concept based on the origination and development process of GNSS/INS deep integration. According to the variation of the receiver tracking loops and information processing methods, the deeply integrated navigation system can be classified into three modes, which are scalar tracking-based deep integration, coherent vector tracking-based deep integration and non-coherent vector tracking-based deep integration. The coherent vector tracking-based deep integration mode can be further classified into the cascade and centralized architectures. The features are compared and analyzed respectively by providing architectures of different deep integration modes. The researches of the GPS/INS deep integration research at home and abroad are reviewed and problems in the current research are summarized. Finally the future directions of the GPS/INS deep integration are pointed out according to the practical applications.