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摘要: 采用全球卫星导航系统（Global Navigation Satellite System，GNSS）模糊度固定解可提高GNSS/惯性导航系统（inertial navigation system，INS）组合导航定位精度，而在复杂环境下，单频GNSS难以实现完善的实时动态周跳探测，影响GNSS模糊度保持。研究了星间单差与站星双差的INS辅助GNSS单频周跳探测检验量，重点分析检验量的误差特性。分析得出检验量误差主要与INS增量误差有关，受接收机至待检星与参考星之间星地矢量夹角的影响。提出了选取两颗参考星并优选探测检验量的方法，降低方位角因素的影响，提高周跳探测性能。周跳探测的阈值在滑动窗口内估计，对INS误差被GNSS误差淹没的部分进行抑制，充分反映INS误差影响，阈值估计具有较强的自适应性。Abstract: Global Navigation Satellite System (GNSS) ambiguity fixed solution can greatly improve the accuracy of GNSS/inertial navigation system (INS) integrated system. But it is difficult to achieve perfect real-time dynamic single-frequency cycle-slip detection merely by GNSS observations especially in complex environment. Inertial aided cycle-slip detection term (DT) based on station-satellite double-differences and satellite single-difference observations are derived. The error characteristic of the DT is analyzed comprehensively. DT error is influenced by the error of INS positioning increment and this error of each satellite is related to the angle between its station-satellite vector and that vector of the base satellite. Thus, it is of importance to select base satellite. It is proposed that two group of DT can be used together by selecting two different base satellites. The threshold of detection is estimated in a moving window, where the DTs, whose INS error is submerged in GNSS error, are eliminated to reflect the effects of INS error. The threshold has strong self-adaptability.
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Keywords:
- GNSS/INS /
- cycle-slip /
- single-frequency /
- reference satellite /
- azimuth /
- sliding window
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图 3 单差和双差检验量(PRN15)
Figure 3. Single Difference and Double Difference Detection Terms (PRN15)
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图 4 单差和双差检验量(PRN29)
Figure 4. Single Difference and Double Difference Detection Terms (PRN29)
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