【作者】 李鹏； 陆明泉； 沈军； 冯振明；

【Author】 Li Peng~1 Lu Mingquan~1 Shen Jun~2 Feng Zhenming~1 (1.Department of Electronic Engineering,Tsinghua University,Beijing 100084 China 2.Beijing BNstar Navigation System & Technology Co.,Beijing,100088,China)

【机构】 清华大学电子工程系； 北京北斗天元导航系统技术有限公司；

【摘要】 GNSS/INS组合导航体系结构对组合导航系统的精度具有直接的影响。但是即使是同样的体系在不同的卫星信号及不同的传感器精度条件下,其导航性能也是有差异的。定量分析这些组合导航的条件对不同组合体系的性能影响,对于确定组合导航体系的适用场合,从而进一步对组合导航系统进行全局优化具有重要的指导意义。本文首先对GNSS/INS组合导航体系结构进行系统分类和分析。然后对组合导航系统进行数学建模,从理论上分析不同组合导航体系下相应的误差传递模型和观测量模型。最后为了研究不同的组合导航体系的适用场合,采用蒙特忙洛仿真的方法对松耦合和紧耦合进行了性能研究。本文的研究内容对设计GNSS/INS组合导航系统数据融合部分具有实践上的指导意义。更多还原

【Abstract】 The performance ofGNSS/INS navigation system is related with the integration architectures.However,even if with the same architecture,the navigation performance is still uncertain in different satellite signal quality and different sensor quality.It is essential to analyze the relationship between these factors and the navigation performance in order to decide the applicable scenarios for different architectures and improve the integrated system.This paper classifies,analyzes and modeling the integration architectures.The error transferring models and measurements models are provided in this paper.Monte Carlo simulation is used to compare the performance between loosely coupled integration and tightly coupled integration in order to decide the applicable scenarios.The study of this paper is capable to be used to design the data fusion part of the practical GNSS/INS integrated navigation systems.更多还原