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载体在飞行过程中遇到高动态、障碍遮挡等情况时,GNSS接收机由于环路失锁或者收星数小于4颗无法正常工作。为改善组合导航系统性能,设计了一种基于DSP+FPGA的GNSS/SINS超紧组合导航系统,在利用惯性信息辅助GNSS跟踪环路的同时,引入外部高度信息,采用全维滤波方式进行信息融合。实验结果表明:该系统改善了接收机的动态性能,可在加速度为60g、加加速度为20g/s的高动态仿真环境下正常工作;在收星数少于4颗时,引入的外部高度信息可改善少星情况下的导航精度。
When the carrier encounters high dynamics during the flight and the obstacle is blocked, the GNSS receiver can not work normally because the loop is out of lock or the number of received stars is less than 4. In order to improve the performance of integrated navigation system, a GNSS / SINS ultra tight integrated navigation system based on DSP + FPGA is designed. With the use of inertial information to assist the GNSS tracking loop, an external height information is introduced and an all-dimensional filtering method is adopted for information fusion . The experimental results show that the system can improve the dynamic performance of the receiver and work well under the condition of high dynamic simulation with acceleration of 60g and acceleration of 20g / s. When the number of received stars is less than 4, the introduced external height information Can improve navigation accuracy in the case of few stars.