Software receiver-based distributed deep integrated navigation method and system

Abstract

The invention provides a software receiver-based distributed deep integrated navigation method and system. According to the software receiver-based distributed deep integrated navigation method and system, a GNSS software receiver adopts Doppler frequency shift calculated by Doppler frequency shift estimation; an auxiliary receiver tracking loop performs carrier tracking and code tracking, and filters outputted GNSS pseudo-range and pseudo-range rate information and provides the filtered information to an integrated navigation module; a carrier tracking loop adjusts a carrier NCO according to the Doppler frequency shift and carrier frequency errors outputted by a carrier loop filter; a code tracking loop adjust a code NCO according to frequency provided by the carrier tracking loop and code frequency errors outputted by a code loop filter; and therefore, two-way assistance of a GNSS and an SINS can be realized. With the software receiver-based distributed deep integrated navigation method and system of the invention adopted, the influence of the dynamic condition of a carrier on the carrier tracking loop can be decreased, and the tracking errors of the GNSS receiver can be decreased under a high dynamic environment, and the dynamic tracking performance of the GNSS receiver under the high dynamic environment can be improved, and therefore, the navigation and positioning accuracy of the integrated navigation system can be further improved.

Description

technical field [0001] The invention belongs to the technical field of satellite navigation, and in particular relates to a software receiver-based distributed deep integrated navigation method and system. Background technique [0002] The integrated navigation system composed of the combination of Strap-down Inertial Navigation System (SINS) and Global Navigation Satellite System (GNSS) fully utilizes the advantages of GNSS positioning accuracy not changing with time and SINS completely autonomous navigation. Advantages, its overall performance is far superior to each independent system. The combination of SINS and GNSS can be roughly divided into three types, among which deep integrated navigation is the most advanced combination form at present. According to related literature at home and abroad, there are two main implementation forms of deep integrated navigation of SINS and GNSS: centralized deep combination based on deep combination filter proposed by Draper laborato...

AI Technical Summary

Problems solved by technology

However, in the current distributed deep combination, even if the tracking loop of the GNSS receiver is assisted, the frequency drift of the receiver clock cannot be estimated more accurately, and the dynamic stress and carrier effects of high dynamics on the tracking loop cannot be completely eliminated. Due to the frequency offset caused by mechanical vibration, clock drift, etc., the tracking error of the GNSS receiver is still large, resulting in poor dynamic tracking performance of the GNSS receiver; at the same time, due to the influence of GNSS receiver noise and multipath effects, the GNSS receiver The output pseudo-range and pseudo-range rate information is not accurate enough, and the current distributed deep combination is to directly fuse the pseudo-range and pseudo-range rate information output by the GNSS receiver and the pseudo-range and pseudo-range rate information output by the SINS. Cannot reduce the influence of receiver noise and multipath effect, so that the positioning accuracy of the existing distributed deep integrated navigation system is not high in high dynamic environment

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