Application of Doppler Smoothing Pseudo－Range in GPSINS Ti ghtl y－Coupled Navigation
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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.
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关键词:
- GPS/INS紧耦合导航 /
- 多普勒 /
- 遗传算法 /
- 平滑因子
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-
Keywords:
- GPS/INS ti ghtl y－coupled navi gation /
- Doppler /
- genetic al gorithm /
- smooth factor
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