相位平滑伪距GNSS PPP/INS紧耦合算法

针对在导航实践中低成本MEMS使用传统紧耦合方法计算精度受到限制的问题,提出了一种采用载波相位平滑伪距GNSS PPP/INS紧耦合的算法。实验表明,使用相位平滑伪距的GNSS PPP/INS紧耦合方法后低精度的MEMS和GPS组合位置精度为dm级,速度精度为cm/s甚至mm/s,比传统C/A码紧耦合定位精度高,有较好的收敛性;其次当增加相位平滑的历元数后精度也相应提高。当出现GPS信号中断时,该方法能够加速中断以后滤波收敛的速度,将导航精度控制在中高精度惯导作业要求范围内。该方法节约了导航作业的设备成本,具有一定实际意义。

Research of the tight coupling navigation technology of GNSS PPP/INS with phase smoothing pseudo range

In this paper,a new algorithm of phase smoothing pseudo range GNSS PPP/INS tight coupled is proposed to solve the problem that the calculation accuracy of the low cost MEMS is limited by the traditional tight coupling method in navigation practice.Experimental shows that using phase smoothing pseudo range GNSS PPP/INS tight coupled method,the position accuracy of low cost MEMS and GPS receiver can reach decimeter level.The speed accuracy is cm/s or even mm/s level.This coupling method has higher accuracy,and a better convergence than the traditional C/A code.Secondly,when the number of epochs is increased,the accuracy also increased.When GPS signal is interrupted,the method can speed up the convergence of the filter after the interruption,and improve the navigation accuracy in middle or high level.This method can save the cost of navigation equipment,and has some practical significance.