复杂环境下基于GPS+BDS-3的PPP/INS/ODO组合导航性能分析

针对复杂环境下单一导航定位技术存在精度低、可靠性和完整性差的问题，提出一种GPS+BDS-3的PPP/INS/ODO组合导航方案。采用GPS+BDS-3双系统观测数据，推导无电离层组合PPP模型，进一步给出PPP/INS/ODO组合模型并分析时间异步及杆臂误差的处理策略，结合里程计测速信息和非完整性约束信息，提高组合导航的定位性能。利用仿动态和动态跑车实测数据，分别对GPS+BDS-3无电离层组合PPP的定位性能和PPP/INS/ODO组合导航的定位性能进行分析。实验结果表明，GPS+BDS-3组合定位精度较单系统有显著提高；PPP/INS/ODO组合系统在复杂环境下位置的RMSE优于1 m,可为复杂环境下的车载导航提供技术支撑。

Analysis of PPP/INS/ODO Integrated Navigation Based on GPS+BDS-3 in Complicated Environment

We are concerned with problems of poor positioning accuracy,reliability and integrity in a single navigation and positioning method in an urban environment;we propose a PPP/INS/ODO integrated navigation scheme without ionospheric combination of GPS+BDS-3.Using the GPS+BDS-3 dual system,we derive the non-ionization combined function model.We give the combined model of PPP/INS/ODO and analyze the processing strategy of time asynchronous and lever arm.Combining odometer information and non-integrity constraint information further improves the positioning performance of the combined system.Using static and dynamic experimental data,we analyze the positioning performance of the GPS+BDS-3 non-ionization combined PPP and the positioning performance of the PPP/INS/ODO combined system,respectively.Experimental results show that the GPS and BDS-3 combination has significantly improved positioning accuracy compared to a single system;the PPP/INS/ODO combination system has a position RMSE better than 1 m in a complex environment,which can provide technical support for car navigation in a complex environment.