双天线GPS/MEMS-INS深组合导航方法研究

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...

Research on Dual antenna GPS/MEMS-INS Deeply integrated Navigation Approach

The low cost INS/GNSS integrated navigation system is susceptible and has a larger heading error in complex environment. For solving these problems, a dual antenna GPS/MEMS INS deeply integrated navigation approach is studied. Considering the tracking characteristics of signals with different intensities, three tracking structures are designed for strong signal, weak signal and loss of lock status based on vector delay locked loop (VDLL), second order phase locked loop (PLL) and velocity aided first order PLL respectively. A practical method of estimating signal intensity is presented to prevent channels with large error from participating in the calculation of navigation filter, and the navigation accuracy is improved. In order to ensure the heading accuracy, two antennas are used. The carrier phase difference of the two antennas is added into the measurement of the navigation filter. A phase difference measurement equation in which the pitch information is isolated is constructed by using the line of sight vector horizontal projection transformation. Vehicular navigation test shows that the designed navigation system can provide continuous and high precision navigation output in urban environment.