【作者】 龙腾； 穆荣军； 苏炳志；

【Author】 Long Teng;Mu Rongjun;Su Bingzhi;School of Astronautics, Harbin Institute of Technology;

【机构】 哈尔滨工业大学航天学院；

【摘要】 矢量跟踪技术以其良好的信号跟踪性能和较强的抗干扰能力已成为下一代卫星导航接收机的核心技术之一。为进一步提升其载波频率跟踪精度和信号中断时的重锁定性能,本文设计了惯性辅助的矢量跟踪环路。该环路以矢量跟踪延迟锁定环(VDFLL)为基本结构,向导航滤波器中引入惯性测量单元(IMU)数据,用惯导解算模型替换常速度运动模型,构造了导航滤波器状态方程和量测方程。车载卫星导航试验表明,相比无惯性辅助的矢量跟踪环路,惯性辅助的矢量跟踪环路可以有效降低速度测量噪声,并且消除滤波器估计时延,在40s卫星信号中断情况下实现了卫星信号的重新锁定。更多还原

【Abstract】 Vector tracking technology has become one of the core technologies of the next generation satellite navigation receiver because of its good signal tracking performance and strong anti-jamming ability. In order to further improve the tracking accuracy of carrier frequency and the performance of relocking when the signal is blocked, an inertial-aided vector tracking loop is designed in this paper. The loop is based on vector delay frequency locked loop(VDFLL), inertial measurement unit(IMU) data is introduced into the navigation filter, the constant velocity motion model is substituted by an inertial navigation solution model, and the state equation and measurement equation of the navigation filter are constructed. Vehicle-mounted satellite navigation test shows that compared with non-inertial-aided vector tracking loop, the inertial-aided vector tracking loop can effectively reduce the noise of velocity measurement and eliminate the delay of filter estimation. In the case of 40 s satellite signal outage, the signal can be relocked.更多还原