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GNSS/SINS deeply-coupled navigation method based on fault-tolerant vector tracking

A deep integrated navigation and vector tracking technology, which is applied in the field of fault-tolerant vector tracking GNSS/SINS deep integrated navigation, can solve problems such as influence and vector tracking loop failure, and achieve the effect of improving fault tolerance and robustness

Inactive Publication Date: 2017-03-15
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, the faulty channel in the vector tracking loop will affect the work of other channels and even cause the vector tracking loop to fail to work, especially when some satellite signals are frequently blocked

Method used

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  • GNSS/SINS deeply-coupled navigation method based on fault-tolerant vector tracking
  • GNSS/SINS deeply-coupled navigation method based on fault-tolerant vector tracking
  • GNSS/SINS deeply-coupled navigation method based on fault-tolerant vector tracking

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Embodiment Construction

[0011] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0012] Such as figure 1 The fault-tolerant vector tracking GNSS / SINS deep integrated navigation method of the present invention is specifically implemented as follows:

[0013] The radio frequency signal received by the GNSS antenna, taking the GPS satellite L1 frequency point as an example, the signal transmitted by the satellite is expressed as:

[0014]

[0015] Among them, S L1 (t) is the signal amplitude at time t, A is the maximum amplitude of the signal, D(t) represents the data code, C(t) represents the ranging code, ω L1 Represents the signal frequency, φ(t) represents the phase, and P(t) represents the P code.

[0016] Without considering the noise, the intermediate frequency signal model output by the RF front end of the GNSS receiver is:

[0017]

[0018] S IF (t) represents the amplitude of the intermediate frequency signal of the sign...

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Abstract

The invention discloses a GNSS / SINS deeply-coupled navigation method based on fault-tolerant vector tracking. The method comprises following steps: 1, a carrier discriminator and a code discriminator output measurement information for a sub filter in a corresponding channel, a fault detection function is used for detecting the operation state of the sub filter, and the information outputted by the sub filter is inputted to a navigation filter to estimate corresponding errors; 2, a coupled navigation filter receives pseudo-range and pseudo-range errors outputted by the GNSS tracking channel and the SINS as measurement information, and estimated SINS system errors are used for feedback correction on the SINS; and 3, the corrected SINS and clock error and clock drift information outputted by the navigation filter are used for calculating parameters of a vector tracking loop for controlling the local pseudo-code of a receiver and a carrier numerically-controlled oscillator to maintain stable tracking on input signals. The method of the invention improves the fault-tolerant performance of the deeply-coupled navigation system and is applied to an environment with partial signals to be blocked, and the application prospect is broad.

Description

technical field [0001] The invention belongs to the field of satellite navigation, inertial navigation and satellite and inertial integrated navigation, in particular to a fault-tolerant vector tracking GNSS / SINS deep integrated navigation method. Background technique [0002] Global Navigation Satellite System (GNSS) refers to the general term for various global and regional navigation systems. The satellite navigation system has the advantages of all-weather and all-time, but in some harsh environments, such as signal being blocked, high dynamic environment, and jungle environment, star loss and lock-up may occur; strapdown inertial navigation system (SINS) is an unsatisfactory A completely autonomous navigation system that relies on any external information and does not radiate energy outside has the advantages of small size, high data update rate, and high short-term accuracy, but has the fatal disadvantage of decreasing navigation accuracy over time. Therefore, the two...

Claims

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Application Information

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IPC IPC(8): G01S19/47G01C21/16
CPCG01S19/47G01C21/165
Inventor 陈帅卢启伟蒋长辉孙昭行屈新芬汪益平赵琛黄思亮邓贵军
Owner NANJING UNIV OF SCI & TECH
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