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为了提高GPS在高动态、强干扰条件下的跟踪性能和导航精度,提出了一种新的SINS/GPS深组合导航方案.利用卡尔曼滤波器反馈回路取代了传统接收机中独立、并行的跟踪回路,能够同时完成所有可视卫星信号和组合导航信息处理的任务;利用矢量跟踪算法加强各跟踪通道相互关联,增强跟踪通道对信号载噪比变化的适应能力,从而提高接收机在信号中断条件下的导航性能;利用相关器输出的I和Q路测量值直接作为导航滤波器的观测量,减小滤波过程残差,可以提高组合导航系统的导航精度和跟踪性能.仿真验证表明,这种基于矢量跟踪的深组合导航方案不仅在GPS信号中断期间能够保证系统的导航精度和可靠性,而且在低载噪比条件下可以增强导航系统的跟踪性能以及抗干扰能力.
In order to improve the tracking performance and navigation precision of GPS under the condition of high dynamic and strong interference, a new SINS / GPS integrated deep navigation scheme is proposed.Using Kalman filter feedback loop to replace the traditional receiver with independent and parallel tracking Loop, which can accomplish all the tasks of visual satellite signal and integrated navigation information processing at the same time. The vector tracking algorithm is used to strengthen the correlation of the tracking channels and enhance the adaptability of the tracking channel to the variation of the signal to noise ratio of the signal, so as to improve the signal- The navigation performance of the integrated navigation system can be improved by using the measured values of I and Q output from the correlator directly as the observation of the navigation filter and reducing the residual of the filtering process.The simulation results show that this Deep navigation based on vector tracking can not only ensure the navigation accuracy and reliability of the system during the interruption of GPS signals, but also enhance the tracking performance and anti-jamming ability of the navigation system under low carrier-to-noise ratio.