gnss/ins ultra-compact integrated navigation device and relative navigation system

Abstract

The invention discloses a global navigation satellite system (GNSS) / inertial / navigation system (INS) ultra-tight combination navigation apparatus and a relative navigation system thereof. On the basis of the traditional GNSS / INS ultra-tight combination navigation apparatus, the provided GNSS / INS ultra-tight combination navigation apparatus uses a distributed filtering structure. Slave filters are used for carrying out pretreatment on I,Q signals of all satellite channels; and the processed information is sent to a combined filter. Meanwhile, the GNSS / INS ultra-tight combination navigation apparatus is also applied to a relative navigation system; while the navigation state and the inertia measurement of a carrier itself are received, navigation information and a carrier phase of another carrier are also received; with a dual-different carrier phase and inertia measurement, recursion filtering resolving is carried out by using an optimal kalman filter and an optimal relative position and a relative speed between each two carriers among multiple carriers are estimated.

Description

technical field [0001] The invention belongs to the field of navigation, in particular to a GNSS / INS ultra-compact combined navigation device and a relative navigation system. Background technique [0002] Global Navigation Satellite System GNSS (Global Navigation Satellite System), Inertial Navigation System INS (Inertial Navigation System); GNSS / INS ultra-tight integrated navigation is the research hotspot of integrated navigation in recent years. Satellite navigation and inertial navigation have complementary advantages, and the combination of the two can effectively solve the problems of satellite navigation signals being interfered by geographic location and environment, and inertial navigation system measurement errors accumulating over time. GNSS / INS combination methods include loose combination, tight combination and ultra-tight combination. Among them, the ultra-tight combination method is a research hotspot in this field. This method uses the assistance of inerti...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the problem that most of the current GNSS / INS ultra-tight integrated navigation filter structures belong to centralized data processing, which requires high data processing speed and difficult implementation of complex systems, the present invention provides a GNSS / INS ultra-tight integrated navigation device, The device is implemented in a distributed filtering structure, including a GNSS radio frequency front end, an inertial measurement unit, a tracking and acquisition loop unit, and a combination filter; the combination filter is connected to the inertial measurement unit, the tracking and acquisition loop unit, and the tracking and acquisition loop unit It is also connected to the GNSS radio frequency front end;

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