摘要
针对GPS信号易受干扰遮挡以及利用载波相位差分进行相对定位时整周模糊度浮点解精度差、搜索空间大的不足,提出INS辅助的GPS相对定位算法。首先采用:INS/GPS深组合方式,实现伪距、伪距率的滤波平滑:然后利用校正后的惯性信息、伪距、载波相位集中滤波得到高精度的浮点解和协方差阵;最后利用LAMBDA算法得到模糊度固定解和相对位置信息。文中使用GPS实测数据和仿真惯导数据进行相对定位试验,结果表明在GPS信号受到短时遮挡时,有惯性辅助和没有惯性辅助相比,东北天3个方向的平均误差分别下降66.45%、82.32%、85.66%;且该算法可改善模糊度指标,压缩整周模糊度搜索空间,提升整周模糊度求解效率。
In view that GPS signal is easily been interfered and blocked,as well as many drawbacks when carrier phase differential relative positioning,such as poor accuracy of float ambiguities and large-searching space.In this paper,a GPS relative positioning method based on INS aiding is proposed.First of all,INS information,pseudo range and pseudo range rate are achieved filtering smoothing by the use of a deep-coupled integrated method.Then,the integrated INS information,pseudo range and carrier phase are used to aid carrier phase to get high precision float ambiguities and their variance-covariance matrix.Finally,LAMBDA algorithm is used to obtain the integer ambiguities and relative position information.An experiment is conducted with the test data and the inertial navigation data from simulation.The results show that,during GPS signal short outage,the average error in East/North/Up with INS aiding decrease 66.45%,82.32%,85.66%respectively compared to without INS aiding.What's more,this algorithm can improve the ambiguity performance,reduce the ambiguity searching space and increase the searching efficiency.
出处
《导航与控制》
2016年第6期7-13,20,共8页
Navigation and Control
关键词
惯性辅助
载波相位差分
相对定位
整周模糊度
INS aiding
carrier phase differential
relative positioning
integer ambiguity
