虚拟卫星法在GNSS/INS组合导航中的应用

摘要

在GNSS/INS车载组合导航系统中,GNSS信号易受遮挡或干扰而失锁,造成组合导航精度有所降低.针对这种情况,将虚拟卫星法应用于GNSS/INS组合导航系统中.通过增加虚拟卫星,构造虚拟观测量,将实测观测量、虚拟观测量用于组合导航Kalman滤波器解算.试验结果表明,此方法能够有效地提高系统的可观测性和导航精度.%In the land vehicle GNSS/INS navigation system, the GNSS signal easily be out of lock because of being blocked or jammed, then the navigation accuracy would decreased. In order to solve this problem, virtual satellite algorithm was implemented to GNSS/INS integration. By adding virtual satellites, the virtual observations were constructed, and then the virtual observations and the real observations were able to be provided to carry on a solution for kalrnan filter. The result of the experiment indicated that the observability and navigation accuracy were able to be improved.