郑南山, 李增科. 多普勒平滑伪距在GPS/INS紧耦合导航中的应用[J]. 武汉大学学报 ( 信息科学版), 2014, 39(10): 1158-1162.
引用本文: 郑南山, 李增科. 多普勒平滑伪距在GPS/INS紧耦合导航中的应用[J]. 武汉大学学报 ( 信息科学版), 2014, 39(10): 1158-1162.
ZHENG Nanshan, LI Zengke. Application  of Doppler  Smoothing Pseudo-Range in GPSINS Ti ghtl y-Coupled Navigation[J]. Geomatics and Information Science of Wuhan University, 2014, 39(10): 1158-1162.
Citation: ZHENG Nanshan, LI Zengke. Application  of Doppler  Smoothing Pseudo-Range in GPSINS Ti ghtl y-Coupled Navigation[J]. Geomatics and Information Science of Wuhan University, 2014, 39(10): 1158-1162.

多普勒平滑伪距在GPS/INS紧耦合导航中的应用

Application  of Doppler  Smoothing Pseudo-Range in GPSINS Ti ghtl y-Coupled Navigation

  • 摘要: 针对GPSINS紧耦合导航中GPS伪距观测值精度较低的问题提出了一种多普勒平滑伪距在GPS/INS紧耦合导航的应用算法 首先给出了GPSINS紧耦合导航详细的动力学模型和观测模型在载波相位平滑伪距的基础上推导了多普勒平滑伪距的具体算法和方差-协方差计算公式并引入遗传算法对平滑因子进行最优估计然后利用实测数据验证了新算法的有效性 结果表明平滑算法能够有效提高伪距观测值的精度从而提高组合导航的定位精度相对于载波相位平滑伪距多普勒平滑伪距的精度略有提高而且多普勒平滑伪距不受周跳的影响算法的效率更高 与此同时伪距观测值精度的提高使其与伪距率观测值精度相当增强了滤波系统的稳定性.

     

    Abstract: In GPSINS ti ghtl y-coupled  navi gationlow precision of GPS pseudo-range observation reduces the navi gation  accurac y.In order  to  resolve  the  issuea GPSINS ti ghtl ycoupled  navi gation  algorithm based on Doppler  smoothing pseudorange is  proposed.First  the dynamical model and observation model of GPSINS ti ghtl ycoupled  are  introduced.Based  on phase smoothing pseudo-rangethe al gorithm of Doppler  smoothing pseudorange and desi gn formulas  of  variancecovariance  are  given.At the  same  time genetic al gorithm GAis  introduced  to  estimate  the  smooth factor.A vehicle  experiment was made to  test  the validit y of  new al gorithm.Experimental  results  indicate  that  smooth al gorithm is  able  to  improve  the precision of  pseudorange observationwhich increases  the position accuracy of  inte grated navi gation.Compared with phase smoothing pseudo-rangeDoppler  smoothingpseudorange has  litter  better performance  as  inte grated observation.The Doppler  smoothing pseudorange eliminates  the  influence  of  cycle  sli p and  increases  computational  efficienc y.At the  same  timethe  accurac y of  pseudorange observation  is  improved  to  the  accurac y of  pseudo-range rate which enhances  the  stabilit y of  filter  system

     

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