摘要
为提升无基准站辅助条件下的单站微惯性/卫星组合实时导航性能,提出了一种基于载波相位时间差分的改进微惯性/卫星紧组合导航方法。所提方法直接利用高精度的载波相位时间差分观测信息改善微惯性导航误差的在线补偿精度。分析比较了两种载波相位时间差分观测模型对组合导航精度的影响,通过抗差序贯卡尔曼滤波建立抵御GNSS观测粗差的紧组合滤波模型。城市内车载试验结果表明,相对于传统紧组合导航方法,所提算法能够有效提升定位、定速和定姿精度达29%、21%和42%。另外,相对较长GNSS中断(60 s)条件下,所提算法能够显著提升滑行位置、速度和姿态精度达46%、40%和51%。
In order to improve the real-time navigation performance of standalone Micro-Electro-Mechanical-System(MEMS)based strapdown inertial navigation system(SINS)/global navigation satellite system(GNSS)integration,a modified GNSS/MEMS-SINS tight integration approach based on time-differenced carrier phase(TDCP)aiding is proposed,which directly uses high-precision carrier phase time differential observation information to improve the online compensation accuracy of micro-inertial navigation errors.The effects of two TDCP aiding strategies on navigation accuracy are presented and compared,and the tightly-coupled system model is established with a robust sequential Kalman filter to resist outlying GNSS measurements.The field tests indicate that,compared with the traditional tightly-coupling method,the proposed algorithm can effectively improve the accuracy of position,velocity and attitude by about 29%,21%and 42%.Moreover,in cases of relatively long complete GNSS outages(e.g.,60 s),the proposed algorithm can significantly improve the sliding position,speed and attitude accuracy by about 46%,40% and 51%.
作者
董毅
王鼎杰
吴杰
DONG Yi;WANG Dingjie;WU Jie(State Key Laboratory of Astronautic Dynamics,Xi’an Satellite Control Center,Xi’an 710043,China;College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2021年第4期451-458,共8页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(61903367)。
