基于环路相关积分观测的SINS/GPS深组合导航算法

摘要

深组合模式下惯性系统与卫星接收机基带信号进行深层次融合，可实现惯性和卫星导航系统的双向辅助。在分析深组合技术原理的基础上，研究了直接利用相关积分输出作为观测量构建环路预处理滤波器的方法，有效减小了传统跟踪环路中信号参量的估计误差；然后设计了基于环路相关观测信息的深组合系统主滤波器模型，实现了原跟踪环路中复制信号生成的外部控制；最后，利用深组合仿真平台对卫星信号载噪比变化环境下的紧组合与深组合性能进行实验对比分析，结果表明深组合算法在弱信号环境下具有环路失锁后快速恢复跟踪的特点及稳定的导航性能。%The deeply integration mode combines INS system with GNSS receiver baseband signal processing in a deep level to realize a two-way aiding for INS and GPS. This paper proposes a deeply integration algorithm based on the tracking loop preprocessing scheme using loop correlating information. Firstly, it presents an analysis on techniques and theory of deeply integration. Then the loop preprocessing filter is designed, which reduces the estimated errors of signal parameters effectively. Moreover, the navigation outputs are used to generate the replica code and carrier signals instead of traditional loops. Finally, the experiments are carried out to demonstrate that the deeply integration algorithm has an advantage of loop recovering after a block in a signal attenuated environment, and retains a stable navigation performance compared with that of the tight integration method.