摘要
针对GNSS/INS组合导航中量测信息时序不同步导致导航定位精度降低的问题,对导航系统的时间误差进行分析,提出一种基于补偿GNSS滞后的实时外推时间配准方法。首先,对GNSS的秒脉冲(1PPS)信号进行分频处理为惯性测量单元(IMU)提供参考时标,减小IMU频漂带来的累计误差;其次,当检测到GNSS导航信息传输完成,选取下一个IMU数据更新时刻为配准时刻;最后,基于实时外推的时间配准方法,使组合导航信息都处于相同的时间坐标下。结果表明,经过该方法能有效提高组合导航精度,融合精度提高了约40%,具有较好的实时性和较高的工程意义。
Aiming at the problem that the positioning accuracy is reduced due to the timing synchronization of measurement information in GNSS/INS integrated navigation,the time error of navigation system is analyzed,and a real-time extrapolation time registration method based on compensating GNSS lag is proposed.Firstly,the second pulse(1PPS)signal of GNSS is divided by frequency to provide reference time scale for inertial measurement unit IMU and reduce the accumulated error caused by IMU frequency drift.Secondly,when GNSS navigation information transmission is detected,the next IMU data update time is selected as the registration time.Finally,the time registration method based on real time extrapolation makes the integrated navigation information in the same time coordinate.Experimental results show that the proposed method can effectively improve the integrated navigation accuracy,and the fusion accuracy is improved by about 40%,which has good real-time performance and high engineering significance.
作者
吴涛
朱建良
周维
WU Tao;ZHU Jian-liang;ZHOU Wei(School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China)
出处
《淮阴工学院学报》
CAS
2022年第1期54-59,共6页
Journal of Huaiyin Institute of Technology
基金
装备重大基础研究项目(xxx-01A01)。
关键词
滞后
时间配准
实时外推
lag
time registration
real time extrapolation
