捷联惯导/北斗高精度组合导航方法研究

Research on SINS/BDS Precise Integrated Navigation Method

摘要:

提出采用紧组合方式进行捷联惯导/北斗组合导航设计,首先对捷联惯导与北斗系统进行误差分析与建模,将捷联惯导系统误差、北斗等效时钟误差相应的距离(伪距误差)以及等效时钟频率误差相应的距离率(伪距率误差)作为组合导航系统状态；利用捷联惯导位置输出与北斗接收机星历输出构造获得等效伪距,将其与北斗接收机测量的伪距对应相减作为量测,推导建立对应的量测方程,采用卡尔曼滤波设计捷联惯导/北斗组合导航滤波算法；仿真结果表明,该组合导航方法的速度精度达到±0.05 m/s,位置精度达到±3.2 m,水平姿态精度达到±0.4′,航向精度达到±1.6′。

Abstract:

Tightly coupled model was adopted to design strapdown inertial navigation system (SINS)/ Bei Dou system (BDS) integrated navigation algorithm. Errors of SINS and BDS were analyzed and modeled firstly. Errors of SINS,pseudo range error and pseudo range rate error of BDS were chosen as states of the integrated navigation system. Position outputs of SINS and satellite ephemeris outputs of BDS receiver were taken to construct the equivalent pseudo range. Then the difference between the equivalent pseudo range and the pseudo measured by BDS receiver was chosen as the measurement,thus the measurement equation is built. Kalman filter was adopted design SINS/BDS integrated navigation filtering algorithm. Simulation results showed that,the velocity accuracy of this integrated navigation method reached ±0.05 m/s,the position accuracy reached ±3.2 m,the horizontal attitude accuracy reached ±0.4′,and the heading accuracy reached ±1.6′. 