基于 INS 辅助 CLAMBDA 与 AFM 的 GPS／INS组合导航测姿方法

摘要

为了提高全球定位系统（global positioning system，GPS）定姿的性能及成功率，将带约束的最小二乘降相关平差法（constrained least squares ambiguity decorrelation adjustment，CLAMBDA）与模糊度函数法（ambi-guity function method，AFM）两种算法相结合，同时利用惯性导航系统（inertial navigation system，INS）姿态信息进行辅助，提出了一种 GPS／INS 组合定姿方法。在 CLAMBDA 解算过程中，将 INS 姿态信息与 GPS 载波相位和码伪距联合解算浮点解，然后再进行固定解搜索，如果姿态解算错误，则用 AFM 算法得到的姿态角进行替换。其间，用 INS 姿态信息缩小 AFM 的搜索范围。之后，GPS／INS 进行组合滤波。通过实际系统跑车实验表明，相比于原算法，该算法能有效提高 GPS 定姿的成功率。%To improve the success rate and performance of global positioning system (GPS)attitude deter-mination,an attitude determination method is proposed,which combines the constrained least squares ambigui-ty decorrelation adjustment (CLAMBDA)and ambiguity function method (AFM),and makes use of the inertial navigation system (INS)attitude information.In the process of CLAMBDA,the INS information is combined with the GPS carrier phase and code measurements,increasing the redundancy of equations to solve the float so-lution,and then searching the fixed solution.If the true ambiguity solutions are not found and the attitude is false,the false attitude is replaced by the attitude using AFM.Meanwhile,the INS information is used to shrink the search space of AFM.After that,the integrated filter of GPS/INS is made.Through the land vehicle experiments,compared with the original algorithm,the proposed algorithm can effectively improve the success rate of attitude determination.