TW448304B - Fully-coupled positioning process and system - Google Patents

Abstract

A positioning method and a system are disclosed for measuring a position of a vehicle on land, air, and space, using measurements from a global positioning system receiver and an inertial measurement unit. In the present invention, an integrated Kalman filter processes the all-available measurements of the global positioning system pseudorange, delta range, carrier phase, and the solution of an inertial navigation system. The integrated Kalman filter is a multi-mode, robust kalman filter, in which optimal integrated mode is selected based on the measurement availability and filter stability. The high accurate solution of the inertial navigation system, which is corrected by the Kalman filter, is used to aid on-the-fly resolution of the carrier phase integer ambiguity of global positioning system in order to incorporate the carrier phase measurements into the Kalman filter, and to aid the carrier phase and code tracking loops of the receiver of the global positioning system to improve the receiver jamming and high dynamic resistance.

Description

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ίο 15 20 The printed bag of the Central Laboratories of the Ministry of Economic Affairs, Shellfish Consumer Cooperative, and the present invention are combined with-Global Positioning System (G1〇bai p〇siti {) ng, GPS) / Inerial Measuring Instrument (inerial Mea__ 脑, 面) Integrated Navigation Positioning Fangsi New Magical Purpose-A fully integrated ㈣μ ^ upled, Kinematic Global Positioning System Congsheng measuring instrument navigation positioning method and system, in order to improve the navigation accuracy of GPS-guided carriers in the ground, air and space . In order to meet the future application needs, it is necessary to develop a reliable, high-precision, small, low-cost integrated GPS / inertial measurement instrument integrated navigation system; this integrated navigation system should be capable of being highly dynamic and at the same time possible. A variety of emotional GPS signal loss and GPS bad signal operation in order to improve the navigation accuracy of the GPS guided carrier. The main way to reduce the cost of the navigation system is to use cheap sensors and components, so that the design of the combined guidance, guidance and control system is more challenging; the guidance and navigation systems of traditional guidance carriers are mainly inertial navigation systems (Inertial Navigation System ^ INS), which is mainly composed of an inertial measuring instrument and a micro-processor. The main advantage of INS is that it does not require any external information to support it. Unlike other navigation systems, INS will not be interfered by the enemy and Fraud, but unfortunately, INS cannot provide remote high-precision guidance information; due to errors in inertial sensors, INS errors accumulate over time, the longer the flight time, the greater the error, and the cost of developing and producing the gyroscope depends on its accuracy It is difficult to produce high-precision gyroscopes. Only a few companies in the world are capable of producing high-precision gyroscopes. To some extent, it also reflects that the market for high-precision INS gyroscopes is extremely limited. Therefore, INS's inherent precision characteristics indicate that it is not suitable for high precision applications. S) A4 specification (210X297 mm) 83 · 3.! 0, 〇〇〇〇I.- I-— Hr II split ---------- I. Line (please read the note on the back first) Please fill in this page again} Printed by 4483 A7 __B7_ of the Ministry of Economic Affairs' Central Work Station Consumer Cooperative V. The tactical missile of invention description (2) requires external information to be used to correct INS errors. Recently in satellite navigation technology, Progress has achieved low-cost, high-precision navigation; many ongoing studies are working on a combined GPS / IMU navigation and guidance system, which can be used in high-interference and high-motion 5-state flight environments to combine GPS The / INS system can be used for a low-cost, easy-to-manufacture IMU, which obviously can greatly reduce the cost of the system. Therefore, technological advancements in inertial sensors, GPS accuracy, and combined GPS / IMU systems will lead to accuracy of up to 1 meter. The technical challenge lies in improving the inertial sensors and GPS sensors, as well as the software and hardware design of the optimal combination of these sensors. For inertial sensors, the current trend is to develop fiber optic gyroscopes, silicon micromechanical gyroscopes, Beam accelerometer (Resonating beam accelermometer), Miaowei mechanical accelerometer, the use of these new technologies will produce low cost, high reliability, light weight new inertial sensors, and systems using these new inertial sensors. 15 GPS accuracy In other words, existing GPS precision positioning services (Precise

Positioning Service), with a design accuracy of 16m (S £ P, SphericaUrror probable), and traceability accuracy of 10m (CEP, Circularerrorprobable), if multiple GPS measurements are combined in a robust Robust center Kalman ( Kalman) filter, used to update the INS, the accuracy will be further improved. · 20 wave filter has the ability to dynamically correct GPS and inertial errors. If the filter is better designed, the navigation accuracy is much better than 8 meters. Achieved; for precision guidance and automatic landing of aircraft, the accuracy requirements for integrated navigation systems are better than 3 meters or better. The technical trend to improve the accuracy of integrated guidance systems is to use dynamic GPS precision ------------ Xiang ------ ix ---- 1 > Line '(谙 Please read the notes on the back before filling this page) This paper size is applicable to China National Standard (CNS) A4 (210X297 mm) 83 , 3.1〇.000 448304 A7 B7, printed by DuPont Consumer Cooperative of Central Bureau of Standards, Ministry of Economic Affairs 5. Description of invention (3) Degree and development of advanced full integrated dynamic GPS_ integrated navigation system, fully integrated GPS / INS New Zealand + , GPS ^ M_ and Longzhi Loop are assisted by inertial sensor information Therefore, the measurement accuracy and anti-interference ability of GPS have been greatly improved and strengthened. With the aid of inertial data, the fast phase 5 fuzzy integer search and solution of GPS, cycle slip detection and isolation will be completed in a few seconds; With the advent of WideareaGPS Enhancement, the existing GPS design and observation accuracy will be further improved. In this way, designing and developing a dynamic (Kinematic) GPS / INS integrated navigation 10 is extremely challenging, and the special thing is that the sensor hardware and algorithm software of the integrated navigation system should meet the following requirements: 1. Inertial sensors are currently used to stabilize 'control and Navigation system sensor technology is undergoing major development changes. These changes will make inertial sensors more widely used in military and commercial applications. The main requirements for designing and manufacturing inertial sensors are low cost, high reliability, and appropriateness. (1) Fiber-optic Gyro (FOG) It is a very economical alternative to ring lasergyro. It has the same performance as ring laser gyro. 2) Silicon micro mechnical Gyros need to further reduce the gyro drift of silicon micro mechnical Gyros in order to meet more application requirements. 3) Resonating beam accelerometer This paper has been used in a difficult way, and it is not easy to use (CNS), 8 secrets (210X297 mm) 83. 3.! 〇, 〇〇〇 -----:- -I install ------ Order -----. Line < Please read the note on the back before writing this page) 4483 04 Printed by A7, Central Office of the Ministry of Economic Affairs B7 V. Description of the invention (4) 4) Silicon micro mechnicai accelermometers 2. The size of the GPS receiver for the GPS receiver, the size of the existing GPS receiver card 5 (OEM, Original equipment manufacture) has been Much smaller than a cigarette case, the technical development trend of GPS receivers used to guide carriers is to enhance their anti-interference, high dynamic capabilities, and reduce GPS measurement noise, including multipath effects. 1) 10 compromise design between tracking loop bandwidth and GPS receiver anti-jamming performance 2) Short first positioning time and signal reacquisition time 3) Direct and fast p-code acquisition and tracking 4) Code and carrier tracking Inertial assistance of the loop 5) Digital signal processing of receiver hardware / software 15 6) Antenna design against multipath signals 3, Integrated system algorithm In the future GPS / IMU integrated navigation system, fully integrated design requires GPS measurement The information of the inertial sensor and the inertial sensor are directly fused in a central navigation Kalman filter, and the output of the filter can assist the GpS receiver's tracking loop in order to improve its anti-interference ability; therefore, the technology 20 requirement will be 1) based on Multi-sensor system reconstruction 2) Multi-mode Robust Kalman filter 3) Sensor fault detection and fusion 4) Recovery-assisted motion (On-the-fly) phase fuzzy solution and cycle slip This paper button uses tss and 83.3.10,000 I. —Installation ------ Order ----- Thread (please read the note on the back before filling this page) 4483 0 Printed by the Zhuhai Bureau Shellfish Consumer Cooperative A7 B7 V. Description of Invention (5) (C yclesiip) detection. 4. Fast transfer alignment New emerging technologies are devoted to the application of highly dynamic carriers in the future; traditionally, the main technical obstacle to the development of highly dynamic guided carriers is the cost and complexity of the carrier 5 guidance system. The main object of the present invention is to provide a "fully integrated navigation positioning method and system", which is a new fully integrated 〇1 > 3/1] ^ algorithm 'it uses GPS carrier phase information' to solve high-precision Time, space position and speed information; it improves the performance of GPS / INS integrated navigation system in strong 10 interference and high dynamic environment. Another object of the present invention is to provide a "fully integrated navigation positioning method and system", in which the developed fully integrated GPS / INS combined system structure makes it possible to realize the error between GPS and INS from hardware and software Complementarity and assistance 'It provides a high performance / price solution for the hardware and software of the combined system and GPS with 15 INS data. Another object of the present invention is to provide a "fully integrated navigation and positioning method and "System", in which a new ν_Α (velocity-acceleration) assisted GPS signal tracking loop algorithm is implemented, which includes a code tracking algorithm and a 20-wave carrier tracking algorithm. In this new combined GPS / INS system structure, Both the GPS receiver code and carrier tracking channel 0 can be assisted by the INS data at a high rate, which greatly improves the GPS receiver's measurement accuracy, high dynamic tracking capability, and anti-interference ability. Another object of the present invention is to provide a "fully integrated navigation standard paper size applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) 83.3.10,000 ---------- I crack- ---- Order -----. (Please read the note f on the back before writing this page: > Printed by A7 B7, Shellfish Consumer Cooperatives, Central Bureau of Standards, Ministry of Economic Affairs. 5. Description of Invention (6) ~ Bit method and button ", among which, a kind of widelane carrier phase ambiguity resolution dynamic (〇rHhe_fly) algorithm assisted by ^^ is developed, which can provide accurate carrier phase measurement for integrated navigation Kalman filter. This method can also greatly reduce the search time for solving fuzzy integers and improve the accuracy of solving fuzzy integers. Another object of the present invention is to provide a "fully integrated navigation and positioning method and system" in which the real-time method is implemented A robust integrated navigation Kalman filter; this filter makes more effective use of all measurement information and prior information (priorinfonnadoii) to determine and correct 10 errors in the system's measurement, including GPS pseudorange (Pseudorange) pseudorange rate (d altarange) and carrierphase. Another object of the present invention is to provide a "fully integrated navigation and positioning method and system", in which a new method for rapid transmission alignment of aircraft INS and weapons (Munition) INS is developed. Algorithm, which is used to remove the initial position, speed, and attitude errors of the tactical weapon. Another object of the present invention is to provide a "fully integrated navigation positioning method and system", in which a real-time dynamic GPS / IMU is implemented Integrated guidance software, which can provide a tool for the development of different levels of GPS / TMU integrated navigation systems, these different levels of GPS / IMU integrated navigation system 20 can be adapted to different applications. Another object of the present invention is to provide a "Fully integrated navigation and positioning method and system", in which a guidance computer system is designed, which is directly oriented to military / civilian / government applications, including strike weapons, unmanned aerial vehicles and other avionics platforms. This paper applies to China National Standard (CNS) A4 size U10X2 »7mm) S3.3.10,000

----- ^ ----^ ------ * ------, hold (please read the note f on the back before filling in this page. Printed by the consumer cooperative 4483 04 A7 ______B7 V. Description of the invention (7) Another object of the present invention is to provide a "fully integrated navigation and positioning method and system", which is not only used to improve the accuracy of the navigation system used to guide the carrier. The direction of the effort provides a solid foundation and powerful tools' and provides a new research direction for the design of the 5 points facing the navigation system for highly dynamic carriers. In order to achieve the above purpose, the present invention The following new technical measures were adopted: 1. The best combination mode: position and velocity (P_V) combination method, pseudo range and pseudo range rate combination method without IMU assisted GPS tracking loop v + 10 Δθ) 'No IMU assisted GPS tracking Dynamic combination of loops ρ + (^ / Δ ν +? 0 method, with 1 ^ auxiliary 0? 3 tracking loop (/ 3 仏 ^; + ^ no) Combination method, with IMU assisted GPS tracking loop Dynamic combination ρ + 0 / Λ t; + Δ Θ method, comparing the existing different combination methods to get fully integrated dynamic GPS / MU integrated navigation system best combination mode. 15 2. New inertial assistance technology of GPS tracking loop: The development trend of GPS / IMU integrated navigation system is to develop a fully integrated dynamic GPS / IMU integrated system, of which 'GPS receiver The code and carrier tracking loop are assisted by data; in the present invention, the latest] MU-assisted GPS tracking loop algorithm is developed to improve GPS measurement accuracy in tactical high dynamic environments. Interference ability 3. New inertial-assisted carrier phase fuzzy integer solution technology: High dynamic dynamic GPS navigation is limited by the ability to solve carrier phase fuzzy integer solution in real time; IMU-assisted wide-channel carrier phase fuzzy integer solution method can greatly reduce Search time and improvement of fuzzy integer solution in dynamic environment _9_ This paper is accurate (CNS) (21 () > < 297 public thin) II --------------------- Order- ----, line (please fill in the notes on the back of M Jing before filling out this page) 4483 0 Printed by A7 B7, Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs 5. The accuracy of the invention description (8), this method can also be used for Single-frequency dynamic GPS measurement Solution of wave phase fuzzy integers 4. Robust central combined Kalman filter: Develop a reliable, robust, adaptive Kalman filter that can run in a variety of dynamic environments, 5 in order to predict the performance of actual systems; The structure of this filter has many advantages over the usual Kalman filter, such as a large convergence area, a smooth transition process, and more conservative when certain states are frozen, such as when the clock and altitude are maintained In addition, the central filtering scheme of this dynamic GPS / IMU combination algorithm also avoids the instability problem of the filter-driven filter scheme.

5. Fast transmission alignment: In the development of a new generation of integrated navigation guidance systems using low-cost tMU, the most challenging research topic is to develop a fully integrated dynamic GPS / IMU integrated navigation system that can be used in high dynamic flight environments. ; The meaning of full integration is that the IMU and GPS can directly compensate each other. The speed and acceleration information obtained by IMU 15 can be used to assist the GPS receiver's code and carrier phase-locked loop in order to track the signal with Doppler (D 叩 pier ) Frequency-shifted GPS satellite signals; in turn, high-precision GPS position and speed information with long-term stability can be used to compensate and correct offset and drift errors of IMU sensors. 'There are different levels of hardware and software combination methods to Meet the purpose of GPS / IMU combination applied in 20 different occasions; according to the traditional classification method, the structure of the combined system can be divided into two categories: loosely coupled and tightly coupled systems; usually, loosely coupled systems have a clear definition of GPS and INS Definitions and requirements, for example: loosely coupled systems require independent navigation parameters from GPS and INS; but for tightly coupled, from the standpoint of obtaining GPS and IMU measurements, Often easy to happen-10- This paper size applies Chinese National Standard (CNS) A4 specification (21 × 297 mm) 813.10,000 ^^ 1- ^^^ 1 UK H— ^^^ 1 ^ HI ^^^ 1 ^ ^^ 1,-^ eJnn ^^^ 1 I · (Please read the precautions on the back before filling in this page) "83 04 A7 B7 Shellfish Consumer Co-operation with Zhongli rate Bureau of the Ministry of Carp Economics, Du printed -11-

V. Description of the invention (9) Confusion, for example: whether fusion of pseudorange or carrier phase into the combined Kalman filter will result in different requirements for GPS receivers and different data processing algorithms, between the IMU and the GPS receiver The flow of information depends on the different combined levels of GPS / IMU; therefore, from the perspective of information fusion, 5 GPS / IMU combined systems are divided into five categories A: GPS / IMUP-V combined mode is traditionally 'this combined conversion is It is called Songfuhe structure; in this structure, GPS and INS are regarded as two independent navigation systems, as shown in the first figure. 'The combined guidance parameter is a separate integrated navigation Kalman filter10 Given by the GPS receiver, the filter directly uses the navigation parameters (position, speed, time, attitude) derived from GPS and INS, respectively. The position and speed of the GPS receiver. The navigation parameters of INS can be corrected periodically; in theory, If the software and hardware of the GPS receiver can be properly designed, the VA parameters obtained by the IMU can assist the tracking loop of the GPS receiver. However, this assistance is actually difficult. 15 'Because of this loosely coupled structure, The performance limitation of Cascaded Filters makes the combined Kalman filter unable to provide high-speed auxiliary data for the GPS tracking loop. One disadvantage of this GPS / INSP-V combined system is that the related measurement data Will reduce the performance of the cascaded Kalman filter. 'The design must be very careful to ensure that the GPS filter's output data is not related to the instability of the integrated navigation filter. Another drawback is that the carrier experiences When dynamic, GPS filters often have large errors. In this case, the GPS receiver urgently needs the assistance from INS, which will further make the correlation problem more serious, but the obvious advantage of the loosely coupled system is that it can use Off-the-shelf hardware and software can be compared to 83,3,10,000 ----- ^ --- I ¢ ------ 1T ----- -0 (Please read the precautions on the back first (Fill in this page again) Mod 483 04 A7 B7 V. Description of the invention (10) 10 15 20 The Ministry of Economic Affairs, Central Bureau of Fengfeng, Shellfish Consumer Cooperation, Du Yint, to easily form a combined system. B: GPS / IMU (pMr + A0) combination mode without GPS tracking loop assistance In this combination, the integrated navigation Kalman filter directly processes the raw measurement data from GPS and IMU sensors, such as GPS pseudorange, Pseudorange rate measurement and IMU acceleration and angular rate measurement, so the center navigation filter can give the system only navigation parameters. The second figure shows the structure of this combined mode. Compared with the loose coupling method, this combination method can greatly improve the accuracy of the integrated navigation system; however, this combination cannot enhance the dynamic tracking ability of the GPS tracking loop, because there is no assistance of the GPS receiver tracking loop. The main advantage of this method is that almost all GPS receivers on the market can be used in this combination, and there is no special need for GPS receivers. C: There is a GPS / loop-assisted GPS / IMUOMv + A Θ) combination mode. Traditionally, this combination method is called tight coupling. The most obvious difference between this combination method and method B is the level of information fusion and Requirements for the receiver; this combined mode requires that the GPS receiver must be able to receive auxiliary information from the integrated navigation Kalman filter in order to assist the signal tracking loop of the GPS receiver 'and that the Kalman filter must be capable of outputting high output The velocity and acceleration information of the rate so that the GPS receiver can perform auxiliary processing. The third figure shows the structure of this combination. This combination method uses a more compact combination method, which is more effective --------.- ^ ------ ΤΓ ----- ▲ (Please read the note ^^ on the back first (Fill in this page) -12- 83.3.10,000 Printed by the Central Standards Bureau of the Ministry of Economic Affairs, Shellfish Consumer Cooperative, 448304 A7 _B7 V. Description of the invention (11) Use GPS and IMU information 'to determine and compensate for system errors; it can In the interference environment, it provides more accurate navigation information. Therefore, its performance is better than the previous two combined systems. In this combined method, the design of the GPS signal tracking loop has a significant impact on both the hardware and software of the GPS receiver. Put forward 5 certain requirements in order to be able to receive the speed and acceleration (V-A) auxiliary information from the navigation filter. The main advantage of this combination is to improve the high dynamic tracking ability and anti-interference ability of the GPS receiver. From a design point of view, the difficulty lies in the digital signal processing of the GPS receiver, the auxiliary design of the tracking loop, and the data exchange and system combination. 10 D: No GPS tracking loop assisted GPS / IMU ρ ν + Λ Θ combination mode This combination mode is similar to the above mode B, as shown in the fourth figure; the difference is that this combination mode has a new information fusion method That is, the use of Kmematic GPS technology in order to improve the accuracy of GPS measurement data. 15 GPS carrier phase measurement can obtain sub-centimeter (Sub-Centimeter) measurement accuracy; however, due to carrier integer phase ambiguity and cycle slip (Cycieslip), the ability to use carrier phase to obtain high-precision positioning data is limited. Especially in high dynamic environment, dynamic carrier phase ambiguity solution and cycle slip detection are very difficult. Once the phase ambiguity and cycle slip problems have been solved, this combination method can achieve higher positioning accuracy than other systems mentioned above; In addition, 'this combination method has no special requirements except that the GPS receiver can provide carrier phase measurement'; the main disadvantage of this combination method is that it cannot improve the dynamic tracking capability of the GPS receiver. E: GPS / IMUp + Pregnancy / Λν + Λ -13 with GPS tracking loop assistance This paper ruler becomes applicable to China National Ladder Standard (CNS) Α4 size (210X297 mm) -----: ---- ----- Order -----, line (please read "Notes on the back side and then fill in this page") Α7 Β7 Printed by the Central Laboratories Bureau of the Ministry of Economic Affairs, Shelley Consumer Cooperatives 1. V. Description of Invention (12) θ combination mode We call the combination mode a fully integrated mode. In this mode, all available measurements and MU measurements of GPS are combined and processed in the center navigation Kalman filter; The speed and acceleration information 5 is used to assist the GPS receiver's code and carrier tracking loop, in order to improve the GPS receiver's dynamic tracking ability and anti-interference ability in a high dynamic environment, and develop such a dynamic GPS / IMU integrated navigation system Is the current technical difficulty 'This combination will greatly improve the accuracy, reliability, dynamic capabilities and anti-jamming capabilities of integrated navigation systems. 10 In the past, the dynamic combination method for GPS / IMU has been effectively applied to low dynamic environments and aerial photography; however, in the dynamic GPS / INS combination system implemented in the above manner, only the phase blur solution and The cycle slip detection problem does not further consider how the IMU speed and acceleration information can be used to assist the tracking loop of the GPS receiver (delay locked loop or M ^ 15 / DLL and phase locked loop MX), however, this combination method only Under the condition that the GPS signal is obtained, the accuracy of the integrated navigation system can be improved, and the _P error compensation can't improve the dynamic tracking performance of GPS. In this combination, the IMU provides the estimated position and Speed, used to reduce the search space for phase ambiguity solution. Once the GPS receiver loses lock on the Gps 20 signal, there is no further connection between the GPS receiver and the IMU sensor. '' According to the corresponding performance-price ratio, the cooperation between the two, and the system implementation and flexibility, each of the above combination methods has its advantages; however, the measurement used in the existing combination system is mainly GPS pseudorange and pseudorange Rate and -14- this paper iiH system t related standard (CNS) A4 ^ · (210X297 mm) " ~~~ '--- 83.3.10,000 ^ 1- -I ^^ 1 H ^^ 1 in ^ i ^^ 1 ^^ 1 I i-Ji i ^^ 1 ^ ϋ · 11 ^^ 1 I. r (Please read the notes on the back before filling this page) 4483 04 A7 B7_ V. Description of the invention (U) — _ Acceleration and angular rate information. The speed obtained by the IMU is mainly used to assist the frequency lock of the carrier frequency tracking loop (before the code matching, remove the Doppler frequency shift) to facilitate the code delay measurement, not for the carrier. Phase measurement; therefore, the ranging accuracy is limited by the bandwidth and resolution of the code tracking loop, especially in a highly dynamic environment. To capture GPS signals, the bandwidth of the GPS receiver ’s unassisted carrier tracking loop must be sufficient Large in order to adapt to rapid changes in GPS signal frequency and phase caused by high dynamics, if there is no external assistance ' This object is reached quite difficult, since a wider bandwidth 'will cause interference into the tracking loop excessive noise. 10 In the present invention, a fully integrated dynamic GPS / IMU integrated navigation algorithm (FCKGA) is developed, which utilizes the unique technologies developed in the present invention, such as a robust central Kalman filter, MU-assisted dynamic wide-channel phase Fuzzy integer solution, IMUV-A assisted tracking loop. The successful development of FCKGA has led to an advanced navigation system. The 15 series of the system has the following characteristics: 1) The hardware level is in a fully coupled combination mode. The GPS receiver is only one of the sensors in the integrated navigation system (GPS gyro and GPS). Acceleration operation) For GPS navigation calculations, the requirement to track at least 4 satellites has been greatly relaxed. Through the design of Fault-Tolerant Software, the hardware level margin helps the Ministry of Economic Affairs. Printed by the Consumer Standards Cooperative of the Central Bureau of Standards to enhance the reliability of the entire system. 2) Use of low-cost IMU sensors In FCKGA-based systems, accurate positioning results can correct IMU sensor errors in the air, so that in integrated navigation systems, -15-83.3.10,000 This paper standard is applicable to China Standard rate (CNS) A4 specification (2 丨 0X297 mm) 44B3 04 Printed by the Consumers' Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs A7 B7 V. Description of the invention (14) Low-cost non-inertial-level inertial sensor. 3) Minimal tracking loop bandwidth and high anti-interference performance. In the fully integrated mode, the VA parameters of the integrated navigation filter are converted into VA information along the line of sight of the integrated navigation system to the GPS satellites. The ground is fed back to the signal processor of the GPS receiver to compensate for the high dynamic impact; thus the bandwidth of the tracking loop can be minimized in order to prevent unwanted interference noise from entering the tracking loop. 4) Dynamic and fast phase fuzzy solution and cycle slip detection The precise positioning data of the integrated navigation system can be used to calculate the distance between the satellite 10 and the navigation system. The calculated distance can be compared with the measured distance, and the result can be used to Detect cycle slip and reduce search space for phase ambiguity solution. 5) High navigation accuracy The integrated navigation system uses dynamic GPS technology with centimeter measurement accuracy, which significantly improves navigation accuracy. 'Once the atmosphere is delayed, select the availability (using dual-frequency and authorized GPS receivers), and phase blurring. When the solution and cycle slip problems are solved, the navigation error of the integrated navigation system depends only on the degree of compensation of the _ sensor error. The integrated guidance system simultaneously performs MU dynamic correction and alignment. In this way, the output data rate of the integrated navigation Data output rate equal to 20 INS. " The picture does not explain: The first picture: the structure of the GPS / INSP-V combined mode. The second picture: the structure of gps / IMU〇 / λ ϋ + Α Θ) combined mode without GPS tracking loop assistance. -16- The size of this paper applies to Chinese National Standard (CNS) A4 (210X297) 83. 3.10,000 I ----- ^-^ 1---. ^ 1 -------- ^- --- (Please read the note ^^ on the back before filling this page) 4483 04 A7 B7 V. Description of the invention (15) 10 15 Third picture: GPS / IMU (pMt; + with GPS tracking loop assist) Δ β) structure of combination mode. Figure 4: Structure of the combined GPS / IMU (p + 0 / Λ v + Λ Θ) mode without GPS tracking loop assistance. Fifth figure: The structure of the combined GPS / IMU (p + 0 / Δ v + Δ 0) mode with GPS tracking loop assistance. Figure 6: Block diagram of DPLL assisted by INS. Figure 7: A block diagram of a model of a code tracking loop assisted by the IMU. Figure 8: System_assisted block diagram of dynamic phase fuzzy solution. Figure 9: Block diagram of inertial navigation calculation. The tenth figure: is a block diagram of the combined Kalman filter. Figure 11: A block diagram of a fully integrated positioning system. Description of drawing number: 5-Inertial measurement device 10-GPS RF / IF module 20-Carrier and code tracking loop 201, 202, 203, 204-Mixer Please note first! Binding 20 Staff Consumer Cooperatives, Central Standards Bureau, Ministry of Economic Affairs Printed 205, 206-accumulator 208-loop filter 2010-carrier scale (: 0 2012-DLL phase detector 2014, 2015-adder 2017-code generator 40-navigation solver 207-carrier phase phase detector 209-adder 2011-correlator 2013-low-pass filter 20164 | NCO 30-navigation information decoding 401-attitude matrix calculation module 402-attitude matrix conversion module 403-attitude angle calculation module-17- This paper scale applies to China National Standard (CNS) Α4 specification (210 father 29:? Mm) 83. 3.10,000 line 4483 04 Printed by the Central Consumers' Bureau of the Ministry of Economic Affairs, Shellfish Consumer Cooperative, A7 ____B7______ 5. Description of the invention (16) 404-Navigation calculation Module 50-Carrier phase fuzzy integer solution 501-Ionospheric and tropospheric signal propagation model and satellite clock model 502-Satellite prediction module 50-Multi-mode cycle slip detection and repair module 5 504-Multi-mode carrier phase fuzzy integer solution module 60- Combined Kalman filter 601-instruction 6〇2-data 603-mode selection module 604- integrated navigation system reconstruction module 605- robust Kalman filter for navigation solution 10 606-covariance analysis of navigation results 801- GPSRF module (U0) 802- GPS digital signal processing module (υυ 803- Centralized processing navigation Kalman filter ^ j2) 804- Interface module 805- Timing signal synthesis module (U4) 15 S06-MU data sampling module (U5) The invention is air and land The space carrier provides a fully integrated positioning method and system that uses measurement information from GPS and inertial measuring instruments to improve navigation performance. Please refer to the fifth figure, which is provided by the present invention. A fully integrated 20-bit positioning method, including the following steps: 1) Receive the __ rate and acceleration information from the inertial measurement instrument, or receive the position, velocity, and attitude measurements of the carrier from other external sensors, and calculate the IMU navigation algorithm Initial value: " 2) Receive the RF (Radio frequency) signal of GPS and derive the pseudo ^ ιϋ ^ ιι! Ι ^ ί—K m ^ ——-line (please read the note f on the back before filling (This page) -18- This paper North Korea's Central Government House (CNS) A4 threatened "21Qx297: ^-~~~ —— ~ -3-31 ~ 〇-〇αα83 04 Α7 Β7 V. Description of the invention (17) 10 15 20 Printed range, pseudorange, and carrier phase measurements from industrial and consumer cooperatives; 3) Receive the velocity and velocity information from the fuel measurement domain, solve the navigation process, and obtain inertial navigation parameters, such as position, speed, and attitude. 4) Hybrid GPS pseudo-range, pseudo-material, carrier phase robustness, and inertial navigation parameters are obtained to obtain fully integrated positioning information. In order to obtain better performance, in the second step, the GPS signal is transmitted by the GPS receiver ’s cage-locked tree path and the carrier input of the loop tracking receiver. Integrated positioning information for auxiliary processing. In order to obtain better performance, the error of the navigation parameters of New Zealand can be compensated by the best estimate of the new financial record recorded in step 4 = In order to obtain better performance, enter __ in step 2 The step includes a process f step (fA) 'quilting support_record transfer paste jump detection, so that the carrier phase with high accuracy can be difficult to incorporate into the hybrid processing of step 4 In order to obtain better performance, step 2 further includes An external step 'is the county's fully-integrated fixed-assistance-assisted carrier phase fuzzy integer solution and cycle slip detection process as seen from step 4. In order to obtain better performance, the fourth step can be used-Kalman drop wave. In order to obtain better performance, the fourth step can use a multi-touch Kalman filter. In order to obtain better performance, a robust t — ^ Itr11 ----, ^-can be used in step 4 (please read the precautions on the back before filling this page) -19-

83-3.i0.000 4 〇 4 〇 Printed by Shellfish Consumer Cooperative of Central Bureau of Standards of the Ministry of Economic Affairs A7 B7 V. Description of Invention (18) (Robust) Kalman Filter. The angular rate and acceleration measurements of the body from the inertial measurement device 5 are processed in the navigation solution 40, and the result is sent to a combined Kalman filter 60, which is based on the 5 The best estimate is fed back to the navigation solution 40 to compensate for position, speed, attitude, and inertial sensor errors; the GPS signals received by the GPS antenna pass through a GPSRF / IF module 10, a carrier, and a code tracking loop, respectively. Road 20, a carrier phase fuzzy integer solution 50, a navigation information decoding 30 process, and the result is sent to the combined Kalman filter 60; the optimal velocity and acceleration information of the combined Kalman filter 60 is The carrier and code tracking loop are fed back to assist the GPS signal tracking processing. The position, velocity, and attitude of the navigation solution module are input to the carrier phase fuzzy integer solution 50 to assist the GPS carrier phase fuzzy integer solution. In the first step, the dynamic GPS / IMU combination must go through an IMU initialization process before entering the normal working 15, where the initial position, speed and attitude information needs to be provided to the navigation equation 40 guide equations; — In the step, there are three IMU initialization methods. (ll) The method of autonomous initial alignment of the IMU can only be used on the ground stationary state; the input signals required in step 1-1 are gravity, earth rotation angular rate, and longitude; the accelerometer of the inertial measurement device 5 is sensitive The gravity signal is used to determine the local horizontal plane. The earth ’s rotational angular rate of the gyroscope of the inertial measurement device 5 is used to determine the azimuth sensitivity. Step 1-1: Output position, velocity, attitude, and estimated inertial sensor errors to the navigation. Solve 40 navigation equations. ~ -20- ------- II ------ ΪΤ ----- ά. (Please read the notes on the back before filling this page) This paper's bearing standards are applicable to the Chinese Standards (CNS) Α4 specification (210x297 mm) 83 · 3.! 〇, 〇〇〇4483〇4 A7 '^^^^ __B7 V. Invention ^ " ~~~~-(1-2) Pass alignment if IMU It is mounted on a tactical weapon of a launch platform. The measurement and navigation parameters of the tactical weapon and launch platform are processed in step _2. The measurement and navigation parameters of the IMU of the tactical weapon and launch platform are output to a transmission 5 alignment processing module. ; In the transfer alignment processing module, the transfer alignment filter processes these navigation parameters and measurement parameters to provide the optimal initialization information for the tactical weapon's IMU. (1-3) GPS aerial alignment If the GPS receiver is selected as an external sensor of the IMU initialization process, the GPS position and speed and an inaccurate attitude parameter are first used as the initial value of the IMU navigation equation, and then GPS The signal is used for continuous initial alignment of the IMU. Please refer to the fifth figure. The second step further includes the following steps: Step 2-1: The received GPS signal is input to the GPSRF / IF 15 module.丨 The GPS RF (Radio frequency) signal is amplified and down-converted to the IF (Intermediate Frequency) signal; the GPS intermediate frequency signal is amplified and low-pass filtered and converted to a GPS baseband signal; analog The GPS baseband signal is sampled and converted into a digital signal in an analog-to-digital converter, and is input to the carrier and code tracking loop 20. 20 Step 2-2 骒: Printed by the GPS Digital Signal Ministry of Economics, GPSRF / IF Module 10, 4-Sample Printed by Shellfish Consumer Cooperative (please read the precautions on the back before filling this page) and from The speed and acceleration assistance signals of the combined Kalman filter 60 are input to the carrier and code tracking loop 20; the carrier and code tracking loop 20 includes a carrier phase locked loop and a late digital delay locked loop to track the GPS satellite signal. -21- This paper size is applicable to China National Standards (CMS > A4 specifications (210X297 ^ 1 βΓΓΤόο ^ 448304 Printed by A7 B7 of the Consumer Cooperatives of the China Standards Bureau of the Ministry of Economics and Economics of the People's Republic of China) V. Description of the invention (20) The loop 20 outputs GPS pseudorange, pseudorange rate, and carrier phase measurement to solve the carrier phase fuzzy integer 50; the carrier and code and the carrier and code recovered by the vertical loop 20 are output to the navigation information decoding 3c 5 Please refer to the fifth and sixth figures, the GPS digital signal from the i-th beat of the GPSRF / IF module 10 is: j (0 = 4ipca [{i + C) iTt- ξτί IcosK ©, + & gt + ^ 〇] + »(0 10 Here: ρ: signal power, CA []: prn code with amplitude ± 1, its code rate is R, and it is delayed r4Tc (Tc is Chip width) 15 — (= 2rftTs), 〇d (= 2rfdTs) are the angular frequency of the sample signal corresponding to the baseband carrier frequency ft and Doppler frequency shift fd (1 is the sampling period), 0 is when When 1 = 0, the initial value of the signal carrier phase n (i) is the equivalent band-limited Gaussian noise of the input of the baseband; at 20 code rate R, (1 * KK here, is the code The corresponding Doppler frequency shift; R0 is the code rate without the Doppler frequency shift. "The GPS digital signal from the GPS RF / IF module 10 and the reference in-phase signal and quadrature signal from a carrier NCO 2010, respectively. Multiply in a mixer 201 and a mixer 203. The mixer 201 and the mixer 203 are -22- this paper ^^ Applicable to China National Kneading Rate (CNS) A4 size (210X297 mm) 83.3. ! 0, 〇〇〇— — II 1 ί * ^ ^ 1 ^ 1 ϋ! Line (please read the note ^^ on the back before filling out this page) Central Government Bureau of the Ministry of Economic Affairs Shellfish Consumer Cooperation Du printed 4483 〇 Α7 __Β7 V. Description of the invention (21) The output signal is multiplied with a punctual random noise (PN) code from a code generator 2017 of the code tracking loop 2017 in a mixer 202 and a mixer 204, respectively, so that The process of removing the input PRN code that is modulated on the carrier frequency is called the despreading operation; after removing the pseudo-random code by 5, the SNR (signal-noisemtio) of the GPS signal is increased. Is caused by the despreading gain of the despreading operation, the output of the mixer 202 is sent to an accumulator 206, and After being accumulated, the output of the mixer 204 is sent to an accumulator 205 and accumulated. The in-phase signal output by the accumulator 20 is ·· 10-f) sin c [(AdJd) t N / 2] cos ^ (jt)-Θ (Jt) J + n, {k) The signal is output to the carrier phase phase detector 207. The quadrature signal output by the accumulator 205 is: g (fe) = 4ΡΪΪκ {τ- f) sin c [(A < wrf \ N / 2] sin | 0 (i:)-B (k)] + n〇 {k) This signal is output to the carrier phase phase detector 207 15 Here: Yes No The estimated error of the Doppler frequency shift of K beats, 0¾) is the phase r ^ k of the input signal and the local NCO signal, respectively, and nQ (k) is the corresponding noise of I (k) and Q (k), respectively. The carrier phase honeyer 207 outputs the correlation results of the in-phase and quadrature signals 20 at a rate of (fs / N); here, fs is the sampling rate and N is the number of sampled data at two correlation intervals per muscle. The in-phase and quadrature signals in the carrier phase honeyer 207 are subjected to an inverse tangent (antangent) phase detection process, and the resulting phase error is: -23 ·

CNS) A4 ^ '(21Q ^ iT 83.3.10,000 ------- 丨 | ------ tr ----- d. (Please read the precautions on the back of Jing before filling this page) 448304 Printed by A7 B7 of the Consumer Cooperatives of the Central Sample Rate Bureau of the Ministry of Economic Affairs 5. Description of the invention (22) «(t) e [-π, + π-j Here: 5 g [] is the characteristic function of the phase phase detector = ⑹ Is the phase tracking error when the input signal is noisy ~ (*) s (-π i [e⑽ 十 ⑽-§ [ε (ί :)]) is the phase disturbance caused by the noise in the input signal. 10 Thus, this The characteristic curve of the carrier phase phase detector 207 is linear within 豕 [ε ⑻] = s (A:) m〇d [-/ γ, + τγ] The carrier phase phase detector 207 outputs a phase tracking error to a loop Circuit filter 208 'The loop filter 208 is a digital filter, usually implemented in a first-order, 15 second-order, or third-order manner; the noise in the phase tracking error signal is filtered by the loop filter 208 to remove noise The subsequent phase tracking error is output by the loop filter 208 to an adder 209. The phase tracking error signal from the loop filter 208 is received by the adder 209 and is combined with the combined Kalman filter IMU The auxiliary signals are added, and the result is output to the carrier NCO (Numerically-Controlled Oscillator) 2010. In order to perform GPS non-coherently correlation processing (in the carrier phase capture) and coherently correlation processing, the carrier ; NCO 2010 uses the input phase tracking error to make adjustments. 'Sampling rate is fs -24- This paper has a moderate standard (CNS) A4% grid (210X297 mm) 83. 3.! 0, 〇 〇〇 — ^ ------ V ------ line '(Please read the precautions on the back before filling out this page) 483 〇5. Description of the invention (23 A7 B7 10 15 20 Central Standard of the Ministry of Economic Affairs The local co-consumer Du Yinzhuang produces local in-phase and quadrature reference signals; the carrier NCO 2010 outputs local in-phase signals to the mixer 201, turns out local quadrature signals to the mixer 203, outputs GPS pseudorange rate and The carrier phase measurement solves the carrier phase fuzzy integer by 50. Please refer to the seventh figure, the early-late digital lock loop (DDLL), cooperates with the carrier phase lock loop, and is assisted by IMU data to achieve the following Two purposes: 1) The code tracking loop provides the input signal An estimate of the maximum time drift between the code and the punctual code generated internally by the receiver. This delay information is used to calculate the distance estimate between the user and the satellite. This distance estimate is called pseudorange. 2) Obtained from code tracking processing The generated synchronization code is used to despread the GPS signal, and the despread GPS signal is input to the carrier tracking loop of the receiver to facilitate the demodulation of the carrier tracking and navigation data. A typical GPS receiver uses a non-coherent delay-locked loop (ncdll) as its code tracking loop. This loop is often referred to as the "early-late" delay-locked loop. Its advance code and delay code are Generated by a voltage-controlled oscillator, the phase thousand DLL is also used in some GPS receivers. It requires parallel carrier phase tracking (so it has coherent characteristics). The biggest inherent disadvantage of a coherent DLL is when cycle slips and code bit errors occur. The code tracking loop will lose lock. This is because the coherent DLL can only work normally if the phase tracking is successful. The coherent DLL is only used in some situations that require phase and vertical. Therefore, IMU is only given here. NCDLL processing. The outputs from the mixer 201 and the mixer 203 and the "early" and "late" local codes from the reef generation _7 are correlated by this -------- ^ 丨 install ---- ----- ^ line (please read the notes on the back before filling in this page) -25- Each paper size is applicable to China National Standard (CNS) A4 (210X297 mm) 813.10,000 "48304 A7 B7 Economy The Ministry of Standards and Technology Bureau employee consumer cooperative printed five invention descriptions (24) and processed them, and the results were output to a DLL phase detector 2012. The correlation results from this correlator 2011 are code phase tracking errors The code phase tracking error received by the DLL phase detector 2012 is used to extract the code phase tracking error 'the code phase tracking error' is output to the low-pass filter 2103 5 in order to filter out the code phase tracking signal. Noise. The code phase tracking error obtained by the DLL phase detector 2012 is disturbed by the input noise 'the low-pass filter 2013 filters it, and the filtered code phase tracking error' is output to an adder 2014 The low-pass filter 2013 is a digital filter, usually a first-order, second-order or The third-order method is realized in 10. The code tracking error from the low-pass filter 2013 and the auxiliary data from the combined Kalman filter 60 are the Doppler auxiliary signals, which are added in the adder 2014; The output signal of the adder 2014 is added to the normal code rate signal 'in an adder 2015, and the result is output to a code 15 NCO2016; the code NCO2016 outputs a PRN code to the code generator 2017, and the code generator 2017 generates and outputs local "early", "late" and punctual codes to the correlator 20Π, generates and outputs GPS pseudo range measurements to the carrier phase fuzzy integer to solve 50. After the carrier phase locked loop and code delay locked loop Processing, the carrier and code of the GPS signal received at 20 have been recovered; the GPS signal from the GTPSRF / IF module 10 and the recovered carrier and code from the carrier and code tracking loop 20 are output to the navigation Information decoding 30, the navigation information decoding 30 demodulates the ephemeris data of the GPS satellites, and outputs it to the combined Kalman filter 60. -26- This paper is scaled to the Chinese national standard (CNS > Μ specifications (210X297 Mm) 8 3 · 3.10,000 ^^^ 1- ^^^ 1 ^ — ^ 1 ^ 1 (Read the precautions on the back before filling out this page) The Central Bureau of the Ministry of Economic Affairs, the Central Bureau of quasi-examination, consumer cooperation, printed materials, 4483. 4 A7 ----------- 5. Description of the invention (25) Please refer to the eighth figure. In steps 2A and 2B, the higher-precision positioning result is obtained by using carrier phase measurement. Instead of using only pseudo-range measurements; this is because the GPS satellite L1 carrier frequency is 1575.42MH2, the wavelength is 19cm, and one cycle of the C / A code is approximately 300m. A prerequisite for using GPS to carry 5-wave phase measurement for positioning is that the phase integer ambiguity has been solved. The integer ambiguity in carrier phase measurement is essentially related to the receiver and satellite; if under ideal conditions, it is assumed that the carrier phase detection does not have Error and accurately know the position of the receiver and satellite, then a simple mathematical operation can be used to immediately obtain the integer of 10; however, in the distance measurement of the code tracking loop, there are satellite ephemeris errors, satellite clock offsets, Atmospheric propagation delay, multipath effects, and receiver noise, we can only get inaccurate geometric distances from the receiver to the satellite, which is called pseudorange. IMU-assisted phase-fuzzy solution and cycle slip detection method15, the precise carrier position and velocity from the corrected INS can be used to calculate the initial fuzzy integer and its search range; in addition, ms-assisted Signal tracking will also enhance the receiver's ability to maintain GPS signals, reducing the probability of signal loss of lock and cycle slip. GPS satellite Wei Zhi signal_wave frequency can be divided into ufan 2 carrier frequency 20 rate, according to different design, a GpS receiver can receive GPS single frequency, signal, or GPS dual frequency signal; -multimode · wave phase mode age Digital Solving Module Two 504 contains the following modes: 1) Use single frequency data to solve fuzzy integers. 2) Use dual frequency data to solve fuzzy integers. -27- This paper size is suitable for CNP A4 washing (210X297mm) 8 3- 3.! 〇, 〇〇〇—t ------ 1T ----- wei (Please read the notes on the back before filling in this I) 4483 04 A7 B7 V. Description of the invention (26) 10 15 20 Lithium Ministry of Economy, Central Bureau of Standards, Bureau of Consumption and Cooperation of Shellfish Consumers 3) Use mixed dual-frequency data and Code data, and auxiliary data from the GPS / imu combined filter to solve fuzzy integers. When dual-frequency data cannot be obtained, the single-frequency data and the data from the combined Kalman filter 60 and the data from a satellite prediction module 502 are used to solve the phase integer ambiguity; when dual-frequency data is available, the wide-channel technique is used Used to extract wide-channel phase fuzzy integers. With the aid of! NS, wide-channel phase fuzzy integers can be quickly determined. Please refer to the eighth figure, the output data from the ionospheric and troposheric signal propagation model and the satellite clock model 501, the output data from the satellite prediction module 502, and the multi-mode cycle slip The output data of the detection and repair module 503, the output data from the combined Kalman filter 60, and the output data of the carrier and code tracking loop 20 are received by the multi-mode carrier phase fuzzy integer solution module 504 to obtain a carrier Phase fuzzy integer. After calculating the carrier phase fuzzy integer, the GPS pseudo-range and pseudo-range carrier phase measurements are solved by the carrier phase fuzzy integer 50 and sent to the combined Kalman filter 60. The navigation information is obtained by the decoding module. The GPS satellite ephemeris is received by the satellite prediction module 502, used to calculate the GPS satellite position and speed, and input it to the multi-mode carrier phase fuzzy integer solution module 504. The ionosphere and troposphere signal propagation model and satellite clock model 501 model the GPS signal ionosphere and stratosphere propagation effects and GPS satellite clock errors; the ionosphere and troposphere signal propagation model and satellite clock model 501 calculate the ionospheric and Tropospheric Propagation Delay and Gps Guardian Standard (CNS) A Na 83. J.! 〇, 〇〇〇, 丨 Install ~ Order ---- (Please read the note on the back before filling in this page ) -28- ^ 33 04 The consumer cooperation of the Central Sample Rate Bureau of the Ministry of Economic Affairs Du Yin 袈 Α7 Β7 V. Description of the invention (27) Star clock error 'and round it out to the multi-mode carrier phase fuzzy integer solution module 504. The GPS receiver position and GPS satellite position from the combined Kalman filter 60 are received by the multi-mode carrier phase fuzzy integer solution module 504, which includes a cycle slip detection algorithm and a repair algorithm; the cycle slip detection algorithm includes some Test algorithm. The first test algorithm is to check the carrier phase. This method often causes the failure of cycle slip detection. This is because the carrier phase is disturbed by multiple time-independent error terms. The second method is dual-frequency phase mixing. The code / code hybrid method is also used in the multi-mode cycle slip detection algorithm; the last method 10 is to use the speed information from the combined Kalman filter 60 to detect and repair the cycle slip 'Once the multi-mode carrier phase fuzzy integer solver module 504 If the cycle slip is detected, the size and location of cycle slip are further determined; the repair is to use a fixed value to correct the carrier phase view measurement and all subsequent phase view measurements of this satellite. After the repair, the multi-mode cycle slip detection and repair Module 503 outputs the repaired carrier phase to the multi-mode carrier phase fuzzy integer solution module 504.The position and speed of the GPS receiver from the combined Kalman filter 60 and the variance of the position and speed errors are sent to the multi-mode carrier phase fuzzy integer solution module 504 and the multi-mode cycle slip detection and repair module 503 20 ' In order to extract the geometric distance between the satellite and the GPS receiver, and to solve the search range of fuzzy integers. The GPS pseudorange, pseudorange, and carrier phase measurements from the carrier and code tracking loop 20 are input to the multi-mode carrier phase fuzzy integer solution module 504. -29- Table paper from the appropriate country g kneading rate (CNS) from the threat (21GX297 mm> 83,3.10,000 -------- 1 ref ----- 1T -----. ^ ( Please read the notes on the back before filling out this page) 44 QOU M-

Description of the invention (28) Printed by the Shellfish Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economics Please continue to refer to the ninth figure. In the third step, the gyro-sensitive body angular velocity from the inertial tracking device 5 is input into the Attitude matrix calculation module 401; body health from the inertial measurement device 5, rotation vectors from a local navigation coordinate system (n system) to an inertial coordinate system (ι system) from a navigation calculation module 404, and from the combined Kalman The waver 60 attitude error estimation is received by the attitude matrix calculation module 401 to update the attitude matrix and compensate for its errors; methods for updating the attitude matrix include Eular, direction cosine, and Quaternion method. The attitude matrix is output by the attitude matrix calculation module 401 to an attitude angle calculation module 403, which is used for extracting the pitch angle, the die flow angle, and the heading angle from the attitude matrix as a part of the INS navigation output parameters. The acceleration measured by the accelerometer from the inertial measurement device 5 is expressed in the body coordinate system, and it and the attitude matrix from the attitude matrix calculation module 401 are received by an attitude matrix transformation module 402; the input expression is in the body coordinate system The acceleration in the image is converted into the acceleration expressed in the navigation coordinate system (n system) by the attitude matrix transformation module 402 and output to the navigation calculation module 404. The 20 best estimates of the acceleration from the attitude moment barrier transform module 402 in the navigation coordinate system and the position and velocity errors from the combined Kalman filter are received by the navigation calculation module 404 to calculate the position, velocity 'and The compensated position and velocity errors are used to calculate the rotation vector from the local navigation coordinate system to the inertial coordinate system; the position and velocity are part of the INS navigation parameters output by the navigation calculation module 404 to the combined Kalman filter 60, The rotation vector of the inertial coordinate system from the local navigation coordinate series is the 10 15 -30- This paper is universal ® National Standard (CNS > A4 Lin · (210X297 mm) 83.3.10,000 (Please read the notes on the back first (Fill in this page again.) Pack. Order printed by the Consumer Standards Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 483 04 A7 ------- -B7_ V. Description of the invention (29) ~ " ~ The navigation calculation module 404 outputs to the attitude matrix The calculation module 40 is well known that real-time Kalman filters can give the best state estimates. 'These estimates are unbiased, and in the smallest unbiased linear estimation, the difference is small; then, A hypothetical digital model is consistent with reality, and its estimation accuracy can only be guaranteed. Any inaccuracy of any model may lead to ineffective results. Therefore, it is very important to find a new method to verify the validity of the assumed digital model. Importantly, especially in the combined GPS / IMU navigation system, the key to the successful application of the real-time Kalman filter is to design a leaky wave model of appropriate size to predict the performance of the system 'while meeting the limits of external processor throughput10; In the design of FCKGA-based integrated navigation systems, the filters must be robust enough to run in different dynamic environments, because FCKGA-based integrated navigation systems will be applied to a large class of military / civilian mobile platforms, such as tactical weapons, Unmanned aerial vehicles, smart bombs, precision strike weapons, and other avionics systems; if the dynamic changes are severe, or a sensor failure occurs, such as a GP_15 star signal failure, or an inertial sensor failure, the filter must be able to detect, correct, and dissolve the failure, and eventually Reconfigure the integrated navigation system. Regardless of the filter's completeness and robustness are usually separated Research, but in fact they are inseparable. 'A robust Kalman filter can provide near-optimal performance under a large class of systems and measurement models. The standard 20 Kalman filter is not robust. Because it can only provide the best performance for a particular system and measurement model, if the filter is incorrect, the reported accuracy of the filter's variance may be very different from its actual accuracy; filter integrity The purpose is to ensure that the performance of its error variance matrix prediction is close to the statistical characteristics of the actual estimated error. -31- Common paper country (CNS) A4 Lai of this paper; (21〇χ297 mm) 83.110 ^ 000 --- -----. I install ----.-- order ----- line (please read the note $ on the back before filling this page) B7 V. Description of the invention (30) In addition, the divergence of the filter is usually caused by the change of the system model and the measurement model or the sensor error; the residual detection method can effectively detect the hard and soft faults of the tide and the divergence of the filter ' One of the advantages of the residual detection method is when the model is correct The statistical characteristics of the residual sequence are known; in this way, it is easier to implement measurement editing and divergence detection using the statistical distribution test of the measurement residual. The same statistical test can also be used to assist in detecting filtered divergence. Tuner tuning and adjustment of variance. Since the state error variance matrix is projected into the measurement geometry and affects the statistical characteristics of the residuals, in order to ensure a reasonable false alarm rate, the error variance 10 matrix must be accurate and at least conservative, which requires all known Measurement errors should be properly modeled and the system model should be fairly accurate; a reduced-order chirper called Schnidt-Kalman is considered for use, which allows some specific The state is considered but not estimated. Since some non-linear effects can be included in the measurement model, these 15 filters have a wide range of convergence. In FCKGA, the development of a robust multi-mode integrated navigation Kalman filter to perform IMU aerial alignment, error correction, and navigation calculation is the key technical core. All original measurements are processed after data fusion and fault detection and fusion. And some corresponding instructions are sent into the multi-mode combined Carl 20-man filter. Therefore, in addition to the multi-mode filter design, several pre-processing processes should be implemented first. They include GPS / BMU fault detection, identification, and isolation. So that the reliable measurement is sent to the multi-mode filter, the correct output of the multi-mode navigation filter can be used to perform the correct fault analysis. -32 · (CNS) (210X297 ^ *) -------- Γ- 1 ^ ------ 1T ----- 0 (Read the notes on the back and then fill out this page) Printed by the Employees' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 4483 04 A7 _____B7_ V. Description of the Invention (31) Please refer to the first figure. In the fourth step, robust statistics and estimates are used for the covariance analysis of a navigation result. The analysis of variance of 606 is in order to provide PVA auxiliary information, system reconstruction instructions and reliable navigation results; the developed fault analysis algorithm can effectively detect and compensate for satellite signal faults and IMU sensor faults, which can make the system Tactical weapons and other carrier control systems provide the required navigation and guidance signals. The model selection instruction and filter parameters from the human-machine interface are received and interpreted by an instruction 601, and the result is output to a mode selection module 603. GPS measurements from the carrier phase fuzzy integer solution 50, GPS satellite ephemeris 30 from the 10-channel information decoding 30, and INS navigation parameters from the navigation solution 40 are received by the data 602 and sent to the mode selection module 603. Based on the received model selection instructions and filter parameters and all available measurements from GPS and INS, this mode selection module 603 makes the current full 15-position positioning processing mode, and applies the corresponding system model and measurement model It is sent to an integrated navigation system reconstruction module 604. The modes that the mode selection module may choose include: 1) GPS / IMUP-V (position and speed) combined mode 2) GPS / IMU (p / Δ without GPS tracking loop assistance) t; + Δ Θ) (pseudo 20-range and pseudo-range rate) combined mode 3) GPS / MUO / δ with GPS tracking loop assist (V + Δ Θ) (pseudo-range and pseudo-range rate) combined mode 4) no GPS Tracking loop-assisted GPS / MU (p + 0 / Δ r + △ Θ) (pseudorange, pseudorange rate, and carrier phase) combination mode (210 father 297 mm_) 83. 3.10,000 IJ decoration ^ I " line (please read the precautions on the back before filling this page) Printed by the Consumer Standards Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 4B3 〇4 A7 ~ ^ ----- B7_ V. Description of the invention (32) 5) GPS / IMU with GPS tracking loop assistance ＋ 0 / Δ v + Δ θ) (pseudorange, pseudorange rate and carrier phase) The combined mode is the system mode and measurement mode from this mode selection module 603 and the measurement of the wave receiver is received by the integrated navigation system reconstruction module 604, and 5 is used to perform the discretization operation of the system model and the linearization of the measurement model Operation: Based on the measurement residual detection results from the covariance analysis 606 of the navigation results, the integrated navigation system reconstruction module 604 adjusts the covariance matrix of the system model and sends it to the robust Kalman filter of the navigation solution . The discrete system model 10 from the integrated navigation system reconstruction module 604, the linearized measurement model, the covariance matrix of the adjusted system model, and the formed filter are measured by a robust Kalman filter of a navigation solution Receiver 605. Using the received data, the robust Kalman filter 605 of the navigation solution makes the best estimation of inertial navigation parameter error, inertial sensor error, and GPS measurement error, and sends it to the navigation solution 40, and Output the best estimate of inertial navigation parameter error and GPS measurement error and the navigation parameter to solve the carrier phase fuzzy integer 50; output the measurement residual and the covariance matrix of the system process to the navigation result covariance analysis 606, and output the navigation system The best output is given by position, velocity, attitude, time, etc. The robust Kalman 20-man filter can be implemented by a full-order Kalman filter or a reduced-order Kalman filter, such as Schmidt-Kalman filter Device. If the navigation solution's robust Kalman filter 605 is placed in the GPS / IMUP-V combination mode, a separate GPS navigation solution module can be included in the navigation solution's robust Kalman filter 605 to enable • 34- -------- 丨 Installation ---- ^-Order ----- Thread (Please read the precautions on the back before filling this page) This paper size is applicable to China National Standard ((^ ) A4 specification (210X297 mm) 83.3.! 0.0, 〇〇〇 Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the invention (33) Obtain the position and speed derived from GPS measurement, separate GPS navigation solution The module can be a point solution algorithm or a Kalman filter algorithm. The filter from the robust Kalman filter 605 of the navigation solution measures the residuals and the covariance matrix of the system model by the covariance analysis of the navigation result. 5 606 received to perform the filter divergence test; based on the results of the filter divergence test, the covariance analysis of the navigation result 606 outputs the adjusted value of the system's model covariance matrix to the integrated navigation system reconstruction module 6 〇4, in order to maintain the system Stable. Please refer to Figure 11 below. The "fully integrated navigation positioning and positioning method and system" of the present invention includes the following components: 1) a GPSRF module (U0) 801 for receiving GPSRF signals; 2) — A GPS digital signal processing module (ui) 802 to obtain GPS measurements using GPS signals received from external sources; 3) an IMU data sampling module (U5) 806 to collect IMU measurement data; 4) A centralized processing Kalman filter (U2) 803 for receiving and processing IMU and GPS measurements; 5) an interface module 804 for implementing data and control information with other avionics systems Communication; 20 6) A timing signal synthesis module (U4) 805, which is used to provide timing signals and local reference signals to other devices. The GPSRF module (U0) 801 receives RF signals transmitted by GPS satellites, amplifies them and downloads them. Frequency conversion to a positive signal, the GPS digital signal processing module (Ul) 802 digitizes the analog IF signal, and a DSP (digital signal -35- --------- 1 match ---- -'1T ----- ί 0 (Please read the notes on the back before filling out this page) This paper size applies to China National Beam (CNS) Α4 specification (210XW7mm) 83. 3.10,000 448304 Shellfish consumer cooperation of the Central Standards Bureau of the Ministry of Economic Affairs Du Zhongzhuang A7 B7 V. Description of the invention (External processing machine (34)) Internal and external] ^^^ auxiliary DLL and PLL operations, and decoding of navigation information, output of raw measurement data and navigation information; centralized processing navigation filter is the heart of the integrated navigation system, which uses robust Kalman wave technology to perform navigation solutions and dynamically correct errors In addition, the 5 acceleration and speed information is fed back to the GPS digital signal processing module 802 to assist the GPS receiver ’s code and carrier phase tracking loop in order to improve the dynamic performance of the GPS receiving device; the timing signal synthesis module looks like 4) 805 It is a frequency reference device used to provide local reference signals for the GPSRP module and GPS digital signal processing module (ie) 802 and Genna data sampling module 10 (U5) 806 to provide synchronous control frequency and signals; the data sampling module (U5) 80 (5) is an IMU data sampling and conversion module. The interface module 804 is used to implement data and control signal communication with other avionics systems. The GPSRF module (U0) 801 is connected to the GPS digital signal processing module (Ul) 802 and the timing signal synthesis module 15 (U4) 805 through an interface such as a cable, and further includes the following components: A: a GPS wireless and multiple GPS antennas for receiving signals from GPS satellites; B: RF-IF converter 'It is connected between the GPS antenna and the GPS digital signal processing module (Ul) 802' and is combined with the timing signal synthesis module 20 (U4 ) 805 is connected to obtain a local reference signal, and the κρ ·] ρ inverter down-converts the GPSRF signal from the GPS antenna to a GPSIF signal and outputs it to the GPS digital signal processing module (Ul) 802. An amplifier can be connected between the GPS antenna and the RF-IF inverter to amplify the GPS signal and improve the signal-to-noise ratio of the GPS signal. -36- This paper size applies to China National Standards Rate (CMS) Α4 specification (210X297 mm) 83.3.10,000 ------- 1 ^ ------- iT ----- 0 (please first (Please read the notes on the back and fill in this page) Printed by the Central Standards Bureau of the Ministry of Economic Affairs, Shellfish Consumer Cooperative, Α7 _..___ Β7 ___ V. Description of Invention (35) — " " The GPS digital signal processing module (uimm is connected to the Gps is between the module _801 and the centralized processing navigation card Yan 8 () 3, and is also connected to the timing signal synthesis module 805 to obtain timing signals; the 61 ^ digital signal processing module (ui) · Further includes the following devices: 5 A: An A70 converter, which is connected between the RF-positive frequency converter of the GPSRF module (U0) 801 and a DSP processor to probe samples from the GPSRF module (U0) (31 > 3 positive signal of 801 RF-EF inverter. B: —DSP processor 'It is connected between the a / d converter and the centralized processing navigation Kalman filter (U2) 803 for tracking And outside the GPS number of 10-bit signal in order to obtain GPS measurements' and output it to the centralized processing navigation Kalman filter (U2) 803. An IF-baseband variable The converter can be connected between the GPSRF module (U0) 801RF-IF inverter and the A / D converter, so as to further down-convert the IF signal to the baseband signal and output it to the A / D converter; 15 The centralized processing Kalman filter (U2) 803 is a micro processor, which is connected to the GPS digital signal processing module (Ul) 802 and the interface module 804, and the IMU data sampling module (U5) 806. In order to process GPS measurements from the GPS digital signal processing module (Ul) 802 and IMU measurements from the IMU data sampling module (U5) 806. 20 The interface module 804 is connected to the centralized processing navigation Kalman filter (U2) 803 , Used to achieve communication with other avionics systems, it may include the following types: 1) Application signal interface, including synchronous communication interface and step-up communication interface, such as RS-232 interface, or RS-422 interface, RS -485 interface, etc .; -37- This paper size applies to China National Standard (CNS) A4 specification (210X297 mm) ---------------- ΐτ ----- 0 (Please (Please read the note on the back before filling in this page)

Description of the invention (36) Printed by the Consumer Cooperatives of the Central Ladder Bureau of the Ministry of Economic Affairs 2) Parallel digital signal interface; 3) Network adapter interface for JE2000 adapter card; 4) Bus interface, such as MIL-1553 bus Interface with ARIC429 The _data sampling module (U5) 806 is connected to the centralized processing navigation 5 Kalman filter (U2) 803 and the timing signal synthesis module (U4) 805. It may have multiple types, including: 1) IMU data sampling module based on D / A conversion, used to properly respond to an IMU with analog signal output; 2) IMU data sampling module based on pulse counting circuit, used to accommodate 10 _ with pulse output signals; 3) The _data sampling module based on the application digital communication circuit is used to adapt to a serial digital signal interface; 4) the imu data sampling module based on the parallel digital signal communication circuit is used to adapt to a parallel digital signal interface Πνίυ; 15 5) IMU data sampling module based on network adapter circuit, used to adapt to an IMU with network standard interface;

6) MU data sampling module based on the bus standard circuit, used to adapt an IMU with a standard bus interface. The GPS digital signal processing module (U 丨) 802 or the centralized processing 20 navigation Kalman filter (U2) 803. If the micro processor has sufficient speed and capacity, the centralized processing navigation Kalman filter, wave processor microprocessor or the GPS digital signal processing module (Ul) 802 microprocessor can be eliminated. The operation task of the processing navigation Kalman filter (U2) 803 is configured to the microprocessor of the GPS digital is processing module (Ul) 802, or the (^^ digital signal -38- this paper is again suitable for China Standard (CNS) Α4 specification (2ωχ297 public 嫠) 83.3.10,000 1 ^ ---------- τ ----- 0 ί Please read the note on the back of the page and then 15 ^ this page) 448304 A7 £ 7 _____ V. Description of the invention (37) The processing tasks of the processing module (Ul) 802 are allocated to the microprocessor of the centralized processing navigation Kalman filter (U2) 803. In the advanced IMU under development, the micro processor is embedded in the electronic circuit of the MU in order to improve the performance of the IMU and adapt to the new inertial sensor 5; further, if the speed and capacity of the micro processor of the IMU are large enough, then The external processing task of the centralized processing navigation Kalman filter (U2) 803 can be configured to the micro processor of the IMU. The GPS digital signal processing module (Ul) 802, the centralized processing navigation Kalman filter (U2) 803, the interface module 804, the IMU data sampling module 10 blocks (U5) 800, and the timing signal synthesis The connection methods between modules (U4) 805 can be explored as follows: 1) connection method based on bus design 2) connection method based on communication port design 3) network connection method -------- -^ -----— 1T ----- 0 (please read the note $ on the back side first and then fill out this page) Printed by Zhengong Consumer Cooperative, Central Bureau of the Ministry of Economic Affairs -39- ^ Depending on the standard 遑Engaged in China ’s poor families (CNS) A4 specification (21〇 < 297) by 83- 3-10,000

Claims (1)

4 ΰ 3 8 Printed by ABCD Consumers' Cooperatives, Central Bureau of Standards, Ministry of Economic Affairs 6. Application for Patent Scope 1.-A method and system for carrying a fully integrated navigation record, including the following steps: (a) Receive from An inertial measuring instrument_knife measurement of the angular velocity and acceleration of the carrier, calculate an initial value of 5 for the navigation equation of the inertial measuring instrument; (b) receive a global positioning system (GPS) radio signal, and extract the GPS pseudorange ( (pseudorange) and deltarange and carrierphase measurements, (c) receive the angular rate and acceleration information of the inertial measurement instrument, solve the 10 navigation equations, and obtain the inertial navigation information, including position, speed, and attitude Etc. (d) Mix the GPS pseudorange, pseudorange rate and carrier phase measurement with the inertial navigation information in order to obtain a fully integrated positioning result. 2. The fully integrated navigation and positioning method 15 and system as described in item 丨 of the patent application, wherein step 0) further includes a processing step of receiving the carrier from at least one external sensor. Position, speed, attitude measurer. 3. The "fully integrated navigation and positioning method and system" as described in item 2 of the scope of the patent application, wherein in step (a), the inertial measurement instrument is an inertial measurement instrument installed on a 20 tactical weapon, The tactical weapon is mounted on a launching platform. The measurement or navigation parameters of the tactical weapon's inertial measurement instrument and the launching platform's inertial measurement instrument are processed by an alignment filter in order to provide the best navigation equations for the inertial measurement instrument. The original informant. 4. As described in item 2 of the scope of the patent application, "Completely Integrated Navigation and Positioning Method Used in the Paper _ Home Rubbing (CNS) A4 Miscellaneous (2 offers 297 public envy) 11 ^ 1 ϋ 1 n installed II n ^ 111 ί I line (please read "Note $ on the back side before filling out this page) a 4483 0 • A8 B8 C8 D8 2. The scope of application for patents is 2 systems printed by the Central Bureau of Vehicles of the Ministry of Economic Affairs of the Bayong Consumer Cooperative. In which, in step 0), the external sensor is a global positioning system receiver, of which the GPS receiver The position and velocity, and the inaccurate attitude information are first used as the initial values of the navigation equation of the inertial tracer, and then the signals from the global positioning system are used to fine-align the inertial measurements. 14 5. The "fully integrated navigation and positioning method and system" as described in item 4 of the scope of patent application, wherein, in step (b), the GPS signal is a carrier phase of the GPS receiver Locking loop and a code tracking loop for tracking processing. In the carrier phase locked loop and the code tracking 10 loop, the tracking processing is assisted by the fully integrated positioning information from step (d). By. 6. The "fully integrated navigation and positioning method and system" as described in item 5 of the scope of patent application, wherein in step (c), the error of the inertial navigation result is caused by the inertial navigation from step (d). The best estimate of the parameter error is made up for 15 compensation. 7. According to the "fully integrated navigation and positioning method and system" described in item 6 of the scope of the patent application, after step (b), it further includes an additional step, that is, performing carrier phase fuzzy integer solution and cycle slip detection, So that the Gps carrier phase measurement can be used for step (d). 20 8. The "fully integrated navigation and positioning method and system" as described in item 7 of the scope of patent application, wherein after step (b), it further includes an additional step 'that is, the step used in step (d) itself. The fully integrated positioning information assists the carrier phase fuzzy integer solution and cycle slip detection processor. 9. As described in item 1 of the scope of patent application, "Fully Integrated Navigation and Positioning Method-41- This Paper Standard Quick Use ® S House Standard Half (CNS) A4 Washer (210X297 mm)) Itr · line (please First read the notes on the back and then fill out this page)-44δ3 〇4 > Α8? 88 printed by the Shellfish Consumer Cooperative of the Central Rubbing Bureau of the Ministry of Economic Affairs, "______________D8_______ Patent Application Scope and System", where step (d) In the GPS pseudorange, pseudorange rate and carrier phase measurement, and the inertial navigation information are mixed by a combined Kalman filter. 10- The "fully integrated navigation and positioning method and method 5" as described in item 8 of the scope of patent application, wherein, in step (d), the GPS pseudorange, pseudorange rate and carrier phase measurement and the The inertial navigation information is mixed by a combined Kalman filter. 1L The "fully integrated navigation and positioning method and system" as described in item 1 of the scope of the patent application, wherein in step (d) 'the GPS pseudorange, pseudorange rate 10 and carrier phase measurement, and the inertial guidance The dirty information is mixed by a multi-mode robust Kalman chirp filter (Muiti-modekdman filter). The multi-mode robust Kalman filter includes at least one of the following operation modes: a GPS / IMUP-V (location and Speed) combined mode; a GPS / IMUO / △ v + Α θ (pseudo-range and pseudo-range rate) combined mode without GPS tracking loop assistance; a GPS / IMU (pM v + Λ Θ) (pseudorange and pseudorange rate) combined mode; a GPS / IMU (p -f 0 / Δ υ + Δ θ) (pseudorange, pseudorange rate, and carrier phase) combined mode without GPS tracking loop assistance 20 — Those with GPS / IMU0 + 0 / Δr + Δ0) ('pseudorange rate and carrier phase) combined mode with GPS tracking loop assistance. 12. The "fully integrated navigation and positioning method and system" as described in item K) of the patent application scope, wherein in step (d), the GPS pseudorange, pseudorange rate and carrier phase measurement and the inertia Navigation information, by a multi-mode robust card 42- This paper size applies to Chinese national standards (CNS > A4 size (210X297 mm) -------- r-- 丨 installation ---- ^- Order ------ line (please read the precautions on the back before filling in this page) 4483〇4 The Multi-modekalman filter is printed by the Central Elevator Bureau of the Ministry of Economic Affairs-Industrial and Consumer Cooperatives. The multi-mode robust Kalman filter includes at least one of the following operation modes: a GPS / IMUP-V (Position and speed) combined mode;-GpS /] MU (p MV V Δ Θ) (pseudo 5 range and pseudo range rate) combined mode without GPS tracking loop assistance;-GPS / GpS tracking loop assisted GPS / MU (/ > / Δ ν + Α Θ) (pseudo-range and pseudo-range rate) combined mode; GPS / IMU without GPS tracking loop assistance (p + must / δ υ + Δ Θ X pseudo-range 'pseudo-range Rate and carrier phase) combined mode; 10 — Those with GPS / IMU (p + 0 / δ ν + Δ Θ) (pseudorange, pseudorange rate and carrier phase) combined mode with GPS tracking loop assistance. 13. The "fully integrated navigation and positioning method and system" as described in item 10 of the scope of patent application, wherein the body angular velocity and acceleration information from the inertial measurement instrument is further processed in the inertial navigation solution module The 15 results are sent to the combined Kalman filter, and the error estimate provided by the combined Kalman filter is fed back to the inertial navigation solution module to compensate for position error, speed error, and sensor error. 14. The "fully integrated navigation and positioning method and system" as described in item 13 of the scope of the patent application, wherein the GPSRF signal is received by a GPS antenna and then tracked by the GPSRP / IF module, the carrier and code after 20 After the loop, the carrier phase fuzzy solution module, and the information decoding module are processed, they are sent to the combined Kalman filter, and the best speed and acceleration information from the combined Kalman filter is returned to the carrier. And code tracking loop, auxiliary carrier and code tracking external principle, the position and speed from the inertial navigation solution module -43- This paper is scaled by Chinese «Home Kneading (CNS) A4 Specification (2〗 0X297 mm})- -------------- ^ -----. (Please read the note on the back ^^ before filling this page) 4483〇 / 'Application for patent scope AS B8 C8 D8 10 15 20 Printed by the Central Working Group of the Ministry of Economic Affairs, Zhengong Consumer Cooperatives, and the attitude information can be used as a veritable question, and it can help to find the fuzzy integer of the carrier phase of GPS. 15. And system, including the following components: "-Global Records (GPS) scale F) letter Machine for receiving GPS RF signals, amplifying the GPS RF signals, and down-converting the Peng station signals to intermediate frequency (positive) signals; l *, a signal processing module for detecting the GPS JP signal and extracting it GPS pseudorange, pseudorange rate and carrier phase measurement; an IMU data sampling module to collect angular rate and acceleration signals from an inertial measurement unit (IMU); a centralized processing navigation Kalman filter for receiving and Process the GPS pseudorange, pseudorange rate, and carrier phase measurements, as well as angular rate and acceleration measurements from the _; at least one interface module 'to achieve communication of data and control information with other avionics systems; signal synthesis at a certain time Module for providing timing signals and local reference signals for the above components. 16. The "fully integrated navigation and positioning method and system" as described in item 15 of the scope of patent application, wherein the interface module is connected to the centralized processing navigation Kalman filter and is used to implement Communication, the interface module is a serial signal interface, including a synchronous communication interface and an asynchronous communication interface. Π. As described in item I5 of the scope of patent application, "Fully Integrated Navigation and Positioning Party-44- —---- r -------- iT ----- ά. (Please read the back Please fill in this page for the matters needing attention) This paper size is applicable to China ’s poor household rate (CNS) Μ pit grid U10X297 mm) ο 3 8 4 4 8888 ABCD Printed Method and System for the Shellfish Consumer Cooperative of the Central Rubbing Bureau of the Ministry of Economic Affairs ", where the interface module is connected to the centralized processing navigation Kalman filter for communication with other avionics systems. The 13 module is a parallel digital signal interface. 18. The "fully integrated navigation and positioning method and method" described in item 15 of the scope of the patent application, wherein the interface module is connected to the centralized processing navigation Kalman filter and is used to implement other avionics The communication of the system, the interface is only a network adapter (adapter). 19. The "fully integrated navigation and positioning method and system" as described in item 15 of the scope of patent application, wherein the interface module is connected to The centralized processing navigational Kalman filter is used for communication with other avionics systems. The interface module is a bus interface. 20. The "fully integrated navigation and positioning method and system" as described in item 15 of the scope of patent application, wherein the IMU data acquisition module is connected to the centralized processing navigation Kalman filter and the timing signal synthesizer, Yes—A module based on a 15-pulse counting circuit to accommodate this IMU with a pulse signal output. 21. The "fully integrated navigation and positioning method and system" as described in the patent application No. μ, wherein the] MU data acquisition module is connected to the centralized processing navigation Kalman filter and the timing signal synthesizer , Is a module based on a 20 serial digital signal communication circuit in order to adapt to the IMCJ with a serial digital signal output interface. 22 'The "fully integrated navigation and positioning method and system" as described in item 17 of the scope of patent application, wherein the IMU data acquisition module is connected to the centralized processing navigation Kalman filter and the timing signal synthesizer, It's based on -45- This paper New Chao t S Muji Chong ^^ called eight 4 threats (210 father 297 mm) ----- ^-I installed ------ Order ----- -0 (Please read the notes on the back before filling in this page) 448304 Printed by the Central Consumers Bureau of the Ministry of Economic Affairs, Consumer Cooperatives 6. The module for parallel digital signal communication circuit for patent application, in order to adapt to the digital signal output interface with parallel digital signal output interface The IMU. 23. The "fully integrated navigation positioning method and system" as described in item 18 of the scope of patent application, wherein the IMU data acquisition module is connected to the processing navigation Kalman filter in the episode 5 and the timing signal synthesis The device is a mode based on the network adaptation circuit, so as to adapt to the IMU with network standard output. 24. The "fully integrated navigation and positioning method and system" as described in item 15 of the scope of the patent application, wherein the IMU data acquisition module is connected to the processing navigation Kalman filter in the episode 10 and the timing signal synthesizer , Is a base-side a / d conversion mu data sampling module, which is suitable for the IMU output that is compatible with the standard bus. 25. For example, please refer to the "Complete Integrated Integrated Aircraft. Special Method and System" in the patent specification, where the IMU data acquisition module is connected to the processing navigation Kalman filter in the episode 15 and the timing signal. The synthesizer is a module based on the bus standard, so as to adapt to the IMU with the bus output of the bus standard. 26. The "fully integrated navigation positioning method and system" as described in item 15 of the scope of patent application, wherein the GPS digital signal processing module, the centralized 20-processing navigation Kalman filter, the interface module, the mu The connection between the data sampling circuit and the timing signal synthesis module is based on a bus connection structure. 27. The "fully integrated navigation and positioning method and system" as described in item 15 of the scope of patent application, in which the GPS digital signal processing module and the centralized (please read the precautions on the back before filling this page) -46- This paper scale is applicable to China National Standards (CNS) A4 specifications (210X297 mm) 4483 04 A8 B8 C8 D8 6. Application for patent scope Processing navigation Kalman filter The interface module, the IMU data sampling circuit and the timing signal synthesis The connection between the modules is based on the connection structure of the communication port. 28. The "fully integrated navigation and positioning 5 method and system" as described in item 15 of the scope of patent application, wherein 1 the GPS digital signal processing module, the centralized processing navigation Kalman filter, the interface module, the IMU data The connection between the sampling circuit and the timing signal synthesis module is based on a network connection structure. (Please read the precautions on the reverse side before filling out this page) Printed by Yonggong Consumer Cooperative, Central Bureau of Standards, Ministry of Economic Affairs -47- This paper size is applicable to family standards (CNS) A4 * ^ · (210X297 mm)