CN108344415A - A kind of integrated navigation information fusion method - Google Patents
A kind of integrated navigation information fusion method Download PDFInfo
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- CN108344415A CN108344415A CN201810088309.9A CN201810088309A CN108344415A CN 108344415 A CN108344415 A CN 108344415A CN 201810088309 A CN201810088309 A CN 201810088309A CN 108344415 A CN108344415 A CN 108344415A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of integrated navigation information fusion method, this method is broadly divided into GNSS satellite signal processing module, SINS posture velocity locations update module, SINS error compensation modules, SINS/GNSS information Fusion Module, SINS error correction modules and result output module.This method newly ceases measurement by the update of high-frequency SINS posture velocity locations and low frequency GNSS, the each visible satellite elevation angle tracked in conjunction with combined navigation receiver and navigation signal carrier-to-noise ratio, real-time adaptive adjusts SINS/GNSS integrated navigation Kalman filter observation noise matrixes, integrated navigation kalman filter state equation and error co-variance matrix are updated by GNSS and SINS pseudoranges, pseudorange rates measured value, finally by SINS and GNSS information fusion feedback compensation inertia device measurement error.Integrated navigation information fusion method proposed by the present invention can realize that the information fusion of the complete robust of combined navigation receiver under complex electromagnetic environment resolves, and have stronger combined navigation receiver design theory value and engineering application value.
Description
Technical field
The invention belongs to technical field of satellite navigation, and in particular to a kind of integrated navigation information fusion method effectively improves
Inertial navigation and satellite navigation receiver positioning accuracy.
Background technology
Global Navigation Satellite System (Global Navigation Satellite System, GNSS) can carry for receiver
For positioning, navigation and time service service, extremely important status is all play in industry-by-industry field.Global Satellite Navigation System mesh
Preceding main GPS including the U.S., the BDS of China, Europe GALILEO and Russia GLONASS, at navigation receiver signal
End is managed by extracting GNSS navigation messages, and according to each navigation system Interface Control File (Interface Control
Document, ICD) satellite spatial position and speed is calculated, and then realize receiver positioning calculation.Inertial navigation system
(Inertial Navigation System, INS) utilizes inertial sensor (gyroscope and accelerometer), reference orientation
And initial position posture information determines attitude of carrier, speed and the autonomous type of position dead reckoning navigation system.Inertia is led
Boat system is divided into gimbaled inertial navigation system (Platform Inertial Navigation System, PINS) and strapdown
Formula inertial navigation system (Strapdown Inertial Navigation System, SINS).PINS is by gyroscope and acceleration
Degree meter measures the navigation system of carrier movement parameter on the stabilized platform of an entity on the basis of platform coordinate system；
Gyroscope and accelerometer are directly installed on carrier by SINS, do not need entity platform, and platform alignment is completed by processor.
PINS volumes are big, quality weight, complicated in mechanical structure, reliability and maintainability are poor, and system performance is restricted by inertial sensor, is
Cost of uniting is sufficiently expensive.The SINS reaction time is short, small, light weight, it is simple in structure, by redundant configuration appropriate, can
The precision and reliability for effectively improving system have many advantages, such as independence, concealment, anti-interference, continuity and completeness.But
It is that SINS errors carry out accumulative growth with the time, usual micro-mechanical gyroscope and accelerometer can reach " hundred seconds hundred meters "
Error therefore often SINS and GNSS are had complementary advantages, be with a wide range of applications.
For measured in conventional combination navigation system noise statistics it is rough and cannot cope in time complex electromagnetic environment or
The situation of motor-driven carrier acute variation, the present invention propose a kind of integrated navigation information fusion method, can successfully manage motor-driven
Filtering accuracy caused by carrier strenuous exercise reduces the problem of even Kalman filtering diverging, becomes a kind of new technology at present
Demand.
Invention content
(1) technical problems to be solved
Of the existing technology in order to solve the problems, such as, the present invention proposes a kind of integrated navigation information fusion method, the party
Method includes mainly the extraction of GNSS navigation messages, GNSS navigation signal carrier-to-noise ratios calculate, the receiver visible satellite elevation angle calculates, SINS
The update of posture velocity location, SINS/GNSS integrated navigations Design on Kalman Filter and measurement noise adaptive design and etc.,
This method can effectively promote the positioning performance of SINS/GNSS combined navigation receivers reply complex electromagnetic environment, lifting system
Robustness and completeness.
(2) technical solution
The present invention proposes a kind of integrated navigation information fusion method, and this method mainly includes the following steps：
Step 1：GNSS satellite signal is carried out down coversion, acquisition and tracking, data synchronization processing by combined navigation receiver, is carried
Take out GNSS navigation messages；
Step 2：Loop is handled by GNSS signal to obtain with phase and quadrature branch coherent integration value, extracts GNSS navigation
Signal carrier-to-noise ratio；
Step 3：By GNSS navigation messages and visible satellite signal transmission time calculate visible satellite spatial position and
Speed, and the visible satellite elevation angle is calculated according to combined navigation receiver position；
Step 4：SINS postures, speed and location information are updated by SINS gyroscopes and acceleration measuring magnitude；
Step 5：Integrated navigation karr is designed by SINS posture velocity location error propagation models and GNSS clock bias models
Graceful filter status transfer matrix and measurement equation；
Step 6：Noise matrix is measured by GNSS navigation signals carrier-to-noise ratio and elevation angle design, and carries out Kalman filtering more
Newly, SINS error corrections and result output.
Preferably, GNSS described in step 1 uses GPS.
Optionally, GNSS described in step 1 can be arbitrary group of GPS either between BDS or GALILEO or three
It closes.
Optionally, if GNSS described in step 1 is combined using GLONASS and GPS/BDS/GALILEO, due to
GPS uses WGS-84 coordinate systems, GALILEO that GTRF coordinate systems, BDS is used to use CGCS2000 coordinate systems, above three's coordinate
It is that origin and reference axis are almost the same, error is very small between coordinate system and can ignore under non-precision positioning；And GLONASS
Using PZ-90 coordinate systems, need to carry out coordinate conversion with GPS/BDS/GALILEO.
Preferably, the carrier-to-noise ratios of GNSS navigation signals described in step 2 are calculated using narrow wide Power ratio method, in navigation message number
According to bit period τaNIn, calculate coherent accumulation narrow band power PNWith noncoherent accumulation broadband power PW, calculation formula is as follows：
Wherein, navigation message data bit period τaNIt is divided into N sections, it is every to be for a period of timeCoherent integration time
Points are M, IP,iAnd QP,iRespectively τaWAccumulated value in time.Then power ratio is calculated, is averaged after n times are cumulative to subtract
Few noise, formula are：
Carrier to noise power density is than measured value：
Finally, GNSS navigation signals carrier-to-noise ratio is：
Wherein, lg represents the logarithm operation for the truth of a matter with 10.
Preferably, τ in step 2aWFor 1ms,Average time is 1s.
Preferably, visible defend is calculated by GNSS navigation messages and visible satellite signal transmission time described in step 3
Star spatial position and speed, wherein the visible satellite signal transmission time is tracked by combined navigation receiver signal processing
The visible satellite signal transmission time that loop constructs, specifically include in current subframe week the second, navigation message code word data
The number of chips and Present navigation of number, the navigation message bit number of Present navigation telegraph text data code word, Present navigation text bit number
The phase of text chip.
Preferably, it by GNSS navigation messages and visible satellite signal transmission time in step 3, and is led according to each satellite
Boat system official ICD interface documents, calculate position and speed of the visible satellite under ECEF coordinate system, and according to combination
Navigation neceiver position calculates the visible satellite elevation angle.
Preferably, in step 4 SINS postures, speed and location information are updated by four increment methods.
Optionally, SINS renewal frequencies are 20~100Hz in step 4.
Preferably, it is to carry out posture renewal by Quaternion Method Strapdown Inertial Navigation System posture to be updated described in step 4.
Optionally, direction cosine method or Euler's horn cupping may be used in Strapdown Inertial Navigation System attitude updating algorithm in step 4.
Preferably, the propagation models of SINS attitude errors described in step 5 are：
Wherein,And be attitude error under SINS navigational coordinate systems, "×" represents matrix multiplication cross,Throwing of the rotational angular velocity in navigational coordinate system for rotational-angular velocity of the earth relative to earth system
Shadow；Projection of the rotational angular velocity in navigational coordinate system for navigation system relative to earth system；δ representation vector differential；
Strap-down matrix is represented,Posture noisiness under carrier coordinate system is represented,Upper target " " represents differential, hereafter involved
Identical meaning is all represented with this section of identical symbol.
Preferably, the propagation models of SINS velocity errors described in step 5 are：
Wherein,Represent the specific force obtained by accelerometer under navigational coordinate system
Value,Represent specific force noisiness under carrier coordinate system.
Preferably, the propagation models of SINS site errors described in step 5 are：
Wherein, (L, λ, h) represents latitude, longitude and elevation residing for SINS, RMRepresent meridian circle radius, RNRepresent the fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches
Enclose radius.
Preferably, GNSS clock bias models described in step 5 is:
Wherein, bclkRepresent combined navigation receiver clock correction, ωbRepresent combined navigation receiver clock correction noise, dclkIt represents
Combined navigation receiver frequency drift, ωdRepresent combined navigation receiver frequency drift noise, TclkRepresent clock correlation time.
Preferably, the transfer matrix of integrated navigation kalman filter state described in step 5 is：
Wherein, FSINS/CNSSRepresent integrated navigation kalman filter state transfer matrix, wherein 03×3Represent 3 rows 3 row
0 matrix, 03×2Represent 3 rows 2 row 0 matrix, 02×30 matrix of 2 rows 3 row is represented, and
M13=M '+M "
Wherein,
M23=(vn×)(2M′+M″)
Preferably, the measurement equation of integrated navigation Kalman filter described in step 5 is divided into pseudo range measurement equation and pseudorange
Rate measurement equation.
Preferably, pseudo range measurement equation described in step 5 is as follows：
Wherein, δρRepresent the pseudorange difference value vector that the pseudorange that SINS measurements obtain is obtained with GNSS measurements；li,mi,ni(i=
1,2 ... N) respectively represent the direction cosine matrix of i-th visible satellite, δxCombined navigation receiver is represented in the earth's core body-fixed coordinate system
The lower x-axis site error of system；δyRepresent combined navigation receiver y-axis site error under ECEF coordinate system；δzCombination is represented to lead
Boat receiver z-axis site error under ECEF coordinate system；bclkCombined navigation receiver clock correction is represented,Represent the pseudorange difference noisiness of i-th satellite.
Preferably, pseudorange rates measurement equation described in step 5 are as follows：
Wherein,Represent the pseudorange rates difference value vector that the pseudorange rates that SINS measurements obtain are obtained with GNSS measurements；It represents
Combined navigation receiver x-axis velocity error under ECEF coordinate system；Combined navigation receiver is represented to sit admittedly in ground heart
The lower y-axis velocity error of mark system；Represent combined navigation receiver z-axis velocity error under ECEF coordinate system；dclkRepresent group
Navigation neceiver frequency drift is closed,Represent the pseudorange rates difference noisiness of i-th satellite.
Preferably, the measurement noise matrix designed by GNSS navigation signals carrier-to-noise ratio and the elevation angle described in step 6 is as follows：
Wherein, R, which is represented, measures noise matrix,Square at i-th visible satellite elevation angle is represented,
ReferCN0It represents combined navigation receiver and refers to carrier-to-noise ratio；(C/N0)i(i=1,2 ... N) represents i-th visible satellite elevation angle
Carrier-to-noise ratio.
(3) advantageous effect
Integrated navigation information fusion method proposed by the present invention can generate positive advantageous effect, and this method passes through high frequency
Rate SINS posture velocity locations update and low frequency GNSS newly ceases measurement, strong in conjunction with visible satellite spatial distribution and navigation signal
Degree, real-time adaptive adjust the distribution of SINS/GNSS integrated navigation filter observation noises, and the integrated navigation Kalman that timely updates
Filter and correction SINS inertia device measurement errors, can realize the complete robust of combined navigation receiver under complex electromagnetic environment
Information fusion resolve, have stronger combined navigation receiver design theory value and engineering application value.
Description of the drawings
Fig. 1 shows preferred embodiment of the present invention integrated navigation information Fusion Module schematic diagram；
Fig. 2 shows the integrated navigation information fusion method flow chart of the preferred embodiment of the present invention.
Specific implementation mode
In order to make the objectives, technical solutions and advantages of the present invention clearer, With reference to embodiment and join
According to attached drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid this is unnecessarily obscured
The concept of invention.
Fig. 1 shows preferred embodiment of the present invention integrated navigation information Fusion Module schematic diagram.
As shown in Figure 1, the fusion of preferred embodiment of the present invention integrated navigation information includes mainly GNSS satellite signal processing mould
Block M1, SINS posture velocity location update module M2, SINS error compensation module M3, SINS/GNSS information Fusion Module M4,
SINS error correction modules M5 and result output module M6.GNSS satellite signal processing module M1 passes through GNSS satellite signal processing
Capture, tracking, bit synchronous, frame synchronization operation extract GNSS satellite signal navigation message, present invention specific implementation in the process
In example by taking GPS as an example.After GNSS receiver tracking channel obtains the navigation message of institute's tracking satellite, using narrow wide Power ratio method meter
Calculate the carrier-to-noise ratio of the tracking visible satellite signal.The inertia measurement that SINS postures velocity location update module M2 passes through SINS
Unit gyroscope and accelerometer obtain angular speed and specific force value respectively, and with new SINS postures speed position information,
It is needed to mono- accurate initial position of SINS and posture before this, and carries out inertial navigation coarse alignment and fine alignment operation.
SINS error compensation modules M3 carries out the error correction of posture speed and position, the present invention by Shuangzi sample or four increment algorithms
Four increment algorithms are used in preferred embodiment.SINS/GNSS information Fusion Module M4 by GNSS obtain visible satellite position,
Speed, the elevation angle, carrier-to-noise ratio, pseudorange and pseudorange rates information, SINS obtain the pseudorange and pseudorange rates information of satellite, and used according to strapdown
Guiding systems error propagation model carries out state-transition matrix calculating, measures noise matrix calculating and integrated navigation Kalman filtering
State equation and error co-variance matrix update.SINS error correction modules M5 calculates SINS/GNSS information Fusion Modules M4
The state error amount gone out feeds back to SINS, and carries out SINS state error corrections.As a result in output module M6, SINS renewal frequencies
Comparatively fast, 50Hz is generally can reach, and SINS/GNSS information fusion frequencies are relatively low, generally 10Hz, therefore received according to integrated navigation
The actual demand adjustment SINS renewal frequencies and SINS/GNSS fusion frequencies of machine, and the result after SINS error corrections is carried out
Output.
Fig. 2 shows the integrated navigation information fusion method flow chart of the preferred embodiment of the present invention.
As shown in Fig. 2, the integrated navigation information fusion method flow chart of the preferred embodiment of the present invention includes mainly following step
Suddenly：
Step 1：GNSS satellite signal is carried out down coversion, acquisition and tracking, data synchronization processing by combined navigation receiver, is carried
Take out GNSS navigation messages；
Step 2：Loop is handled by GNSS signal to obtain with phase and quadrature branch coherent integration value, extracts GNSS navigation
Signal carrier-to-noise ratio；
Step 3：By GNSS navigation messages and visible satellite signal transmission time calculate visible satellite spatial position and
Speed, and the visible satellite elevation angle is calculated according to combined navigation receiver position；
Step 4：SINS postures, speed and location information are updated by SINS gyroscopes and acceleration measuring magnitude；
Step 5：Integrated navigation karr is designed by SINS posture velocity location error propagation models and GNSS clock bias models
Graceful filter status transfer matrix and measurement equation；
Step 6：Noise matrix is measured by GNSS navigation signals carrier-to-noise ratio and elevation angle design, and carries out Kalman filtering more
Newly, SINS error corrections and result output.
In the specific embodiment of the invention, GNSS described in step 1 uses GPS.
The carrier-to-noise ratios of GNSS navigation signals described in step 2 are calculated using narrow wide Power ratio method, in navigation message data bit week
Phase τaNIn, calculate coherent accumulation narrow band power PNWith noncoherent accumulation broadband power PW, calculation formula is as follows：
Wherein, navigation message data bit period τaNIt is divided into N sections, it is every to be for a period of timeCoherent integration time
Points are M, IP,iAnd QP,iRespectively τaWAccumulated value in time.Then power ratio is calculated, is averaged after n times are cumulative to subtract
Few noise, formula are：
Carrier to noise power density is than measured value：
Finally, GNSS navigation signals carrier-to-noise ratio is：
Wherein, lg represents the logarithm operation for the truth of a matter with 10.
τ in step 2aWFor 1ms,Average time is 1s.
Visible satellite space bit is calculated by GNSS navigation messages and visible satellite signal transmission time described in step 3
It sets and speed, wherein the visible satellite signal transmission time is built by combined navigation receiver signal processing track loop
The visible satellite signal transmission time gone out, specifically include second TOW in current subframe week, navigation message code word data number ω,
The navigation message bit number b of Present navigation telegraph text data code word, the number of chips c of Present navigation text bit number and Present navigation electricity
The phase CP of literary chip, in the specific embodiment of the invention by taking GPS L1C/A codes as an example, according to GPS ICD documents, each word includes
30 bits, each a length of 20ms of bit-time, the cycle lengths of C/A codes are 1ms, include 1023 puppets in every C/A codes with
Machine ordered series of numbers, then the launch time t of satellite-signals(unit：Second) to construct formula as follows：
By GNSS navigation messages and visible satellite signal transmission time ts in step 3, and according to each satellite navigation system
System official ICD interface documents, calculate position and speed of the visible satellite under ECEF coordinate system, and according to integrated navigation
Receiver location calculates the visible satellite elevation angle.
In step 4 SINS postures, speed and location information are updated by four increment methods.
SINS renewal frequencies are 50Hz in step 4.
It is to carry out posture renewal by Quaternion Method that Strapdown Inertial Navigation System posture is updated described in step 4.
The propagation models of SINS attitude errors described in step 5 are：
Wherein,And be attitude error under SINS navigational coordinate systems, "×" represents matrix multiplication cross,Throwing of the rotational angular velocity in navigational coordinate system for rotational-angular velocity of the earth relative to earth system
Shadow；Projection of the rotational angular velocity in navigational coordinate system for navigation system relative to earth system；δ representation vector differential；
Strap-down matrix is represented,Posture noisiness under carrier coordinate system is represented,Upper target " " represents differential.
The propagation models of SINS velocity errors described in step 5 are：
Wherein,The specific force value obtained by accelerometer under navigational coordinate system is represented,Represent specific force noisiness under carrier coordinate system.
The propagation models of SINS site errors described in step 5 are：
Wherein, (L, λ, h) represents latitude, longitude and elevation residing for SINS, RMRepresent meridian circle radius, RNRepresent the fourth of the twelve Earthly Branches tenth of the twelve Earthly Branches
Enclose radius.
GNSS clock bias models described in step 5 is:
Wherein, bclkRepresent combined navigation receiver clock correction, ωbRepresent combined navigation receiver clock correction noise, dclkIt represents
Combined navigation receiver frequency drift, ωdRepresent combined navigation receiver frequency drift noise, TclkRepresent clock correlation time.
The transfer matrix of integrated navigation kalman filter state described in step 5 is：
Wherein, 03×3Represent 3 rows 3 row 0 matrix, 03×2Represent 3 rows 2 row 0 matrix, 02×30 matrix of 2 rows 3 row is represented,
And
M13=M '+M "
Wherein,
M23=(vn×)(2M′+M″)
The measurement equation of integrated navigation Kalman filter described in step 5 is divided into pseudo range measurement equation and pseudorange rates measurement side
Journey.The pseudo range measurement equation is as follows：
Wherein, δρRepresent the pseudorange difference value vector that the pseudorange that SINS measurements obtain is obtained with GNSS measurements；li,mi,ni(i=
1,2 ... N) respectively represent the direction cosine matrix of i-th visible satellite, δxCombined navigation receiver is represented in the earth's core body-fixed coordinate system
The lower x-axis site error of system；δyRepresent combined navigation receiver y-axis site error under ECEF coordinate system；δzCombination is represented to lead
Boat receiver z-axis site error under ECEF coordinate system；bclkCombined navigation receiver clock correction is represented,Represent the pseudorange difference noisiness of i-th satellite.
Pseudorange rates measurement equation described in step 5 are as follows：
Wherein,Represent the pseudorange rates difference value vector that the pseudorange rates that SINS measurements obtain are obtained with GNSS measurements；It represents
Combined navigation receiver x-axis velocity error under ECEF coordinate system；Combined navigation receiver is represented to sit admittedly in ground heart
The lower y-axis velocity error of mark system；Represent combined navigation receiver z-axis velocity error under ECEF coordinate system；dclkRepresent group
Navigation neceiver frequency drift is closed,Represent the pseudorange rates difference noisiness of i-th satellite.
The measurement noise matrix designed by GNSS navigation signals carrier-to-noise ratio and the elevation angle described in step 6 is as follows：
Wherein,Represent square at i-th visible satellite elevation angle, ReferCN0Integrated navigation is represented to connect
Receipts machine refers to carrier-to-noise ratio, is 45dBHz in the specific embodiment of the invention；(C/N0)i(i=1,2 ... N) represents i-th and visible defends
The carrier-to-noise ratio at the star elevation angle.
SINS/GNSS integrated navigations information fusion Kalman filter renewal frequency is 10Hz in step 6, and often updates one
Error correction is carried out to SINS after secondary and result exports.
In conclusion the present invention proposes a kind of integrated navigation information fusion method.This method passes through high-frequency SINS appearances
State velocity location updates and low frequency GNSS newly ceases measurement, each visible satellite space tracked in conjunction with combined navigation receiver
Distribution and navigation signal carrier-to-noise ratio, real-time adaptive adjust SINS/GNSS integrated navigation Kalman filter observation noises, pass through
GNSS and SINS pseudoranges, pseudorange rates measured value update integrated navigation kalman filter state equation and error co-variance matrix,
And by SINS and GNSS information fusion feedback compensation inertia device measurement error, it can realize that combination is led under complex electromagnetic environment
The information fusion of the boat complete robust of receiver resolves, and has stronger combined navigation receiver design theory value and engineer application
Value.It should be understood that the above-mentioned specific implementation mode of the present invention is used only for exemplary illustration or explains the original of the present invention
Reason, but not to limit the present invention.Therefore, that is done without departing from the spirit and scope of the present invention any repaiies
Change, should all be included in the protection scope of the present invention.The appended claims of the present invention are intended to cover fall into appended right to want
Seek whole change and modification examples in range and boundary or this range and the equivalent form on boundary.
Claims (10)
1. a kind of integrated navigation information fusion method, which is characterized in that described method includes following steps：
Step 1：GNSS satellite signal is carried out down coversion, acquisition and tracking, data synchronization processing by combined navigation receiver, is extracted
GNSS navigation messages；
Step 2：Loop is handled by GNSS signal to obtain with phase and quadrature branch coherent integration value, extracts GNSS navigation signals
Carrier-to-noise ratio；
Step 3：Visible satellite spatial position and speed are calculated by GNSS navigation messages and visible satellite signal transmission time,
And the visible satellite elevation angle is calculated according to combined navigation receiver position；
Step 4：SINS postures, speed and location information are updated by SINS gyroscopes and acceleration measuring magnitude；
Step 5：Integrated navigation Kalman filter is designed by SINS posture velocity location error propagation models and GNSS clock bias models
Wave device state-transition matrix and measurement equation；
Step 6：By GNSS navigation signals carrier-to-noise ratio and the elevation angle design measure noise matrix, and carry out Kalman filtering update,
SINS error corrections and result output.
2. a kind of integrated navigation information fusion method according to claim 1, it is characterised in that：GNSS described in step 1
Can be arbitrary combinations of the GPS either between BDS or GALILEO or three.
3. a kind of integrated navigation information fusion method according to claim 1 and 2, it is characterised in that：If the GNSS
It is combined using GLONASS and GPS/BDS/GALILEO, since GPS uses WGS-84 coordinate systems, GALILEO to use GTRF
Coordinate system, BDS use CGCS2000 coordinate systems, and above three's coordinate origin and reference axis are almost the same, between coordinate system accidentally
Difference is very small and can ignore under non-precision positioning；And GLONASS uses PZ-90 coordinate systems, needs and GPS/BDS/
GALILEO carries out coordinate conversion.
4. a kind of integrated navigation information fusion method according to claim 1, it is characterised in that：GNSS described in step 2
Navigation signal carrier-to-noise ratio is calculated using narrow wide Power ratio method, in navigation message data bit period τaNIn, calculate coherent accumulation narrowband
Power PNWith noncoherent accumulation broadband power PW, calculation formula is as follows：
Wherein, navigation message data bit period τaNIt is divided into N sections, it is every to be for a period of timeThe points of coherent integration time
For M, IP,iAnd QP,iRespectively τaWAccumulated value in time.Then power ratio is calculated, is averaged after n times are cumulative and is made an uproar with reducing
Sound, formula are：
Carrier to noise power density is than measured value：
Finally, GNSS navigation signals carrier-to-noise ratio is：
Wherein, lg represents the logarithm operation for the truth of a matter with 10.
5. a kind of integrated navigation information fusion method according to claim 1, it is characterised in that：Pass through described in step 3
GNSS navigation messages and visible satellite signal transmission time calculate visible satellite spatial position and speed, visible are defended wherein described
When star signal transmission time is the visible satellite signal transmitting constructed by combined navigation receiver signal processing track loop
Between, specifically include in current subframe week the second, the number of navigation message code word data, Present navigation telegraph text data code word navigation electricity
The phase of literary bit number, the number of chips of Present navigation text bit number and Present navigation text chip；And then it is navigated by GNSS
Text and visible satellite signal transmission time, and according to each satellite navigation system official ICD interface documents, calculate visible defend
Position and speed of the star under ECEF coordinate system, and the visible satellite elevation angle is calculated according to combined navigation receiver position.
6. a kind of integrated navigation information fusion method according to claim 1, it is characterised in that：Pass through four sons in step 4
Sample method updates SINS postures, speed and location information.
7. a kind of integrated navigation information fusion method according to claim 1, it is characterised in that：SINS described in step 5
Attitude error propagation model is：
Wherein,And be attitude error under SINS navigational coordinate systems, "×" represents matrix multiplication cross, Throwing of the rotational angular velocity in navigational coordinate system for rotational-angular velocity of the earth relative to earth system
Shadow；Projection of the rotational angular velocity in navigational coordinate system for navigation system relative to earth system；δ representation vector differential；
Strap-down matrix is represented,Posture noisiness under carrier coordinate system is represented,Upper target " " represents differential；
The propagation models of SINS velocity errors described in step 5 are：
Wherein, The specific force value obtained by accelerometer under navigational coordinate system is represented,
Represent specific force noisiness under carrier coordinate system；
The propagation models of SINS site errors described in step 5 are：
Wherein, (L, λ, h) represents latitude, longitude and elevation residing for SINS, RMRepresent meridian circle radius, RNRepresent prime vertical half
Diameter.
8. a kind of integrated navigation information fusion method according to claim 1, it is characterised in that：GNSS described in step 5
Clock bias model is：
Wherein, bclkRepresent combined navigation receiver clock correction, ωbRepresent combined navigation receiver clock correction noise, dclkCombination is represented to lead
Boat receiver frequency drift, ωdRepresent combined navigation receiver frequency drift noise, TclkRepresent clock correlation time.
9. a kind of integrated navigation information fusion method according to claim 1, it is characterised in that：It is combined described in step 5
Navigation kalman filter state-transition matrix is：
Wherein, FSINS/GNSSRepresent integrated navigation kalman filter state transfer matrix, 03×3Represent 3 rows 3 row 0 matrix, 03×2
Represent 3 rows 2 row 0 matrix, 02×30 matrix of 2 rows 3 row is represented, and
M13=M '+M "
Wherein,
M23=(vn×)(2M′+M″)
The measurement equation of integrated navigation Kalman filter described in step 5 is divided into pseudo range measurement equation and pseudorange rates measurement equation；
Pseudo range measurement equation described in step 5 is as follows：
Wherein, δ ρ represent the pseudorange difference value vector that the pseudorange that SINS measurements obtain is obtained with GNSS measurements；li,mi,ni(i=1,
2 ... N) direction cosine matrix of i-th visible satellite is respectively represented, δ x represent combined navigation receiver in ECEF coordinate system
Lower x-axis site error；δ y represent combined navigation receiver y-axis site error under ECEF coordinate system；δ z represent combination and lead
Boat receiver z-axis site error under ECEF coordinate system；bclkRepresent combined navigation receiver clock correction, θρi(i=1,2 ... N)
Represent the pseudorange difference noisiness of i-th satellite；Pseudorange rates measurement equation described in step 5 are as follows：
Wherein,Represent the pseudorange rates difference value vector that the pseudorange rates that SINS measurements obtain are obtained with GNSS measurements；Represent combination
Navigation neceiver x-axis velocity error under ECEF coordinate system；Combined navigation receiver is represented in ECEF coordinate system
Lower y-axis velocity error；Represent combined navigation receiver z-axis velocity error under ECEF coordinate system；dclkCombination is represented to lead
Boat receiver frequency drift,Represent the pseudorange rates difference noisiness of i-th satellite.
10. a kind of integrated navigation information fusion method according to claim 1, it is characterised in that：Pass through described in step 6
GNSS navigation signals carrier-to-noise ratio and the measurement noise matrix of elevation angle design are as follows：
Wherein, R, which is represented, measures noise matrix,Represent square at i-th visible satellite elevation angle, ReferCN0
It represents combined navigation receiver and refers to carrier-to-noise ratio；(C/N0)i(i=1,2 ... N) represents the carrier-to-noise ratio at i-th visible satellite elevation angle.
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