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研究了一种利用GPS差分载波相位和惯导组合构成高精度组合导航系统的算法,建立了以载波相位双差观测量对惯导位置误差直接进行观测的数学模型,利用卡尔曼滤波器进行数据融合,可以达到厘米级的组合导航系统定位精度。同时,为了解决使用GPS载波相位观测量过程中出现的周跳问题,文中充分利用由该组合方案得到的高精度定位信息以及惯导在短时间内可保持高精度的特点,提出了迅速修复周跳和重新确定整周模糊度的方法,并通过仿真验证。
A new algorithm based on GPS differential carrier phase and inertial navigation combined to form a high precision integrated navigation system was studied. A mathematical model was established to directly observe the position error of inertial navigation with double-difference observation of carrier phase. Kalman filter Fusion, you can achieve centimeter-level integrated navigation system positioning accuracy. In the meantime, in order to solve the problem of the cycle slip in the process of observing the phase of GPS carrier wave, this paper makes full use of the high-precision positioning information obtained by the combination scheme and the characteristic that inertial guide can maintain high precision in a short time. Jump and re-determine the method of integer ambiguity, and through simulation.