GPS诱骗下 GPS／INS组合导航偏差分析

摘要

To analyze the bias of GPS/INS integrated navigation under GPS deception,the loose coupled integrated navigation model and GPS spoofing model were established.On the basis of these models,the analytic relationship between deception time-delay and GPS deception bias was deduced by using the method of multidimensional Taylor analysis,and the effect of GPS deception bias on the locating result of integrated navigation was analyzed by Kalman recursion.The theoretical derivation and simulation analysis proved that:1)GPS deception has an effective jamming effect on the locating result of loose coupled integrated navigation;and 2 ) The bias in integrated navigation at the present moment is affected by the former bias and GPS deception bias at the present moment synchronously,and the former bias has greater weight.%为分析GPS／INS组合导航在GPS受诱骗时产生的导航定位偏差，在建立松耦合组合导航模型和GPS诱骗模型的基础上，利用多维泰勒分析的方法推导了转发时延与GPS诱骗偏差的解析关系，进而结合卡尔曼滤波递推式分析了GPS诱骗偏差对组合导航定位结果的影响。理论推导和模拟仿真表明：对GPS实施诱骗可有效影响松耦合组合导航的定位结果，当前时刻组合导航定位偏差同时受到之前时刻偏差与当前时刻GPS诱骗偏差的影响，且之前时刻偏差权重较大。