一种改进的GNSS／INS非相干深组合导航

针对GNSS／INS非相干深组合导航中通道滤波器状态模型中信号幅值估测不准而导致跟踪环路观测噪声较大的问题，提出了一种改进的GNSS／INS非相干深组合导航方法。该方法通过去除通道滤波器中信号幅值状态变量，增加载波相位变化率加速度误差，重新设计了通道滤波器数学模型。仿真结果表明：相比于传统的非相干深组合导航方法，这种滤波器的跟踪性能与导航精度有了进一步提高。

An Improved Non-Coherent GNSS/INS Deep Integration Algorithm

To deal with the problem thai the unaecurate signal amplitude estimation from the observations of channel filter in the non-coherent GNSS/INS integration leads to a larger measurement noise, an novel non-coherent （;NSS/INS integration filter is proposed. It re- moves the signal amplitude of the state variables from the channel filter, and adds an new variable which is called as acceleration error of change rate of the carrier phase. The simula- tion results show that the tracking performance and the navigation accuracy of this filter compared to the conventional non-coherent deep integration filter are further improved.