基于B1C新信号的BDS/INS深组合改进的跟踪环路设计

针对北斗卫星导航系统/惯性导航系统(BDS/INS)的深组合定位系统，提出了一种利用惯性导航系统(INS)辅助B1C正交分量的信号跟踪算法，以解决定位过程中信号较弱致深组合定位系统失锁的问题. 该算法使用了考虑INS数据的卡尔曼滤波算法，并同时利用导频分量和数据分量构成本地码，对信号进行跟踪. 由该算法对实测数据计算，并利用传统算法进行对比，可以得出在弱信号的环境下跟踪环路较为稳定，伪距精度较高. 

Design of BDS / INS deep combination improved tracking loop based on B1C new signal

Aiming at the BeiDou Navigation Satellite System/inertial navigation system (BDS/INS) deep integrated positioning system, a signal tracking algorithm using inertial nartgation system (INS) assisted B1C orthogonal component is proposed to solve the problem of lock-out of the deep integrated positioning system caused by weak signal in the positioning process. The algorithm uses the Kalman filter algorithm considering the inertial navigation data, at the same time, it uses the pilot component and data component to form a local code to track the signal. The algorithm is used to calculate the measured data, and compared with the traditional algorithm. It can be concluded that the tracking loop is more stable in the weak signal environment, the positioning accuracy is significantly improved, and the pseudo range also has a higher accuracy.