CN201751861U - Receiver of inertial navigation system/satellite navigation system - Google Patents

Receiver of inertial navigation system/satellite navigation system Download PDF

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Publication number
CN201751861U
CN201751861U CN2010201622023U CN201020162202U CN201751861U CN 201751861 U CN201751861 U CN 201751861U CN 2010201622023 U CN2010201622023 U CN 2010201622023U CN 201020162202 U CN201020162202 U CN 201020162202U CN 201751861 U CN201751861 U CN 201751861U
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China
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module
ins
gps
receiver
synchronous clock
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CN2010201622023U
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Chinese (zh)
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张继宏
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重庆星熠导航设备有限公司
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Abstract

The utility model discloses a receiver of an inertial navigation system (INS)/a satellite navigation system, belonging to the field of satellite positioning and navigating. The receiver can perform the INS assistance to a carrier wave tracking ring of a global position system (GPS) receiving module. The receiver comprises a GPS module with an assistant input interface, an INS module with a synchronous clock input interface and a data fusion module. The receiver is characterized in that a synchronous clock input end of the INS module with an synchronous clock input interface and an angular speed and specific force information output interface is connected with a synchronous clock output end of the GPS module, an angular speed and specific force information output end is connected with a data input end of the data fusion module, and a data output end of the data fusion module is connected with an input end of the carrier wave tracking ring of the GPS module. Compared with the conventional GPS/INS receiver, the receiver can obviously improve the dynamic performance and the anti-interference performance.

Description

The receiver of a kind of inertia auxiliary satellite navigation system

[technical field]

The utility model relates to a kind of receiver that is used to locate with the inertia auxiliary satellite navigation system of navigation field, and it is particularly related to the location and the navigation of inertial navigation system under high dynamic environment (following represent with INS) auxiliary satellite navigation system.

[background technology]

Global location navigational system (following represent with GPS) is the satellite navigation system the most widely of utilization at present, and this system can provide high precision, round-the-clock, global navigate and locate for the user.But, the GPS navigation system belongs to radio navigation system, its signal is easy to be subjected to the interference of surrounding environment, particularly works as receiver and is under the low signal-to-noise ratio environment such as city, forest, tunnel, and the GPS receiver is difficult to provide precise navigation and location for the user at short notice.In addition, when carrier is under the high dynamic environment, the easy losing lock of the carrier tracking loop of GPS receiver, its dynamic property can be along with the high-speed motion of receiver variation, can't finish effective navigation and location sometimes even fully.

INS is a kind of autonomous navigation system that utilizes inertance element, reference direction and original position information to determine bearer rate, position and attitude.It is fast that INS has data update rate, bearing accuracy height in the short time range, and system is not subject to characteristics such as external interference.But there is accumulation of error phenomenon in INS, and its bearing accuracy can be as time passes and variation, and its error accumulation need uninterruptedly be revised by external observation information.

The integrated navigation system of INS assistant GPS can remedy INS and gps system deficiency separately, at first, the INS system can assist the carrier tracking loop of GPS receiver, can improve the dynamic property of GPS receiver and strengthen its antijamming capability, on the other hand, be in when the GPS receiver under the low signal-to-noise ratio environment such as city, forest, tunnel and can't finish the location time, the INS system can utilize the interior high characteristics of bearing accuracy of its short time to provide high-precision continuous location, the reliability of enhanced system and continuity for the user.Secondly, gps system can be revised the accumulation of error of INS system, can improve the precision of INS.The rich connotation of INS assistant GPS application technology and great practical value have attracted many concerns of enclosing military service, scientific research institution and the relevant unit thereof of family, have become a global research focus.Research to INS assistant GPS application technology at present mainly concentrates on INS and aspects such as gps data fusion and INS assistant GPS carrier tracking loop.

The high dynamic navigation of INS assistant GPS is a main direction of following integrated navigation technical development with the location, also always the throwing oneself into research of this respect of domestic and international many research institutions, also released one after another its receiver product of some companies.But, the integrated navigation technology that generally speaking satisfies at present under the high dynamic environment also is not very ripe, present existing INS assistant GPS integrated navigation technology mainly concentrates on the error correction aspect to GPS and INS, research to gps carrier tracking loop slave side does not almost have, and the high dynamic performance of its product and antijamming capability are not very desirable.

[utility model content]

The purpose of this utility model provide a kind of have high dynamically, high precision and have receiver than the inertia auxiliary satellite navigation system of strong anti-interference ability.

The receiver of inertia auxiliary satellite navigation described in the utility model system is made of GPS receiver module 1, the INS module 2 with synchronous clock input interface and 3 three parts of data fusion module of band auxiliary input, as shown in Figure 1.Consult Fig. 1: the data acquisition board in the INS module is at first gathered the data of inertance element gyro and accelerometer, in gatherer process in order to keep synchronous with gps data, its data sampling clock utilizes the 1PPS pulse of GPS receiver output, this clock is used to control the sampling time sequence of INS, and the renewal rate of INS data is kept synchronously with the GPS receiver all the time.Angular speed after the sampling and be admitted to the INS computing module than force data, this module is mainly finished the conversion of navigation coordinate system and is resolved position, the speed of carrier under the INS system.After locator values such as INS module position, speed were determined, the almanac data that provides in conjunction with the GPS receiver can obtain pseudorange, the pseudorange rates of INS system with respect to gps satellite.For GPS receiver module 1, satellite-signal enters antenna, and through the GPS radio-frequency module, input signal is exaggerated, and frequency inverted is the output frequency of expectation; The A/D converter is with the gps signal digitizing and send into the correlator of 12 passages, this correlator can be finished the processing to 12 satellite-signals simultaneously, each satellites in view all has with it corresponding digitizing related channel program, and the relevant treatment that its correlator block is mainly finished received signal and local reproducing signal is to obtain the pseudorange of carrier under gps system, pseudorange rates etc.Carrier pseudorange that INS module and GPS module calculate and pseudorange rates are sent into data fusion module 3 simultaneously, adopt the adaptive Kalman filter algorithm respectively pseudorange, pseudorange rates to be merged, the high accuracy pseudo range that obtains after the fusion, pseudorange rates value revise and obtain by position computation module position, speed and the accekeration of carrier with high accuracy respectively to the margin of error of GPS module and INS module.The frequency translation module is converted into needed carrier doppler frequency of GPS receiver carrier tracking loop and frequency change rate with the speed and the amount of acceleration of carrier, this Doppler frequency and frequency change rate are assisted to improve the dynamic property of integrated navigation system GPS receiver carrier tracking loop, and adaptive Kalman filter algorithm and GPS receiver carrier tracking loop aided algorithm in the data fusion module are the cores of this integrated navigation system.

Its principal character of the utility model integrated navigation system receiver is to adopt hypercompact close coupling to close technology, its major function is that to finish pseudorange, pseudorange rates fusion, GPS and INS module error correction and GPS module carrier tracking loop auxiliary, its objective is the seamless navigation that realizes under the high dynamic environment.The programmed algorithm workflow is as follows:

Pseudorange and pseudorange rates merge

The purpose that pseudorange and pseudorange rates merge is that the margin of error of INS module and GPS module is estimated, its margin of error comprises the clock drift error of platform error angle, velocity error, site error, inertia type instrument error and the GPS module of INS module.Consult Fig. 2: the utility model adopts the adaptive Kalman filter algorithm that pseudorange, the pseudorange rates of pseudorange, pseudorange rates and the GPS module of INS module are merged, its state variable is 18 dimensions, and the state variable of this wave filter has comprised all error vectors of INS module and GPS module.The model of state variable is provided with as follows: the inertia type instrument error comprises gyroscopic drift sum of errors accelerometer error, the clock drift error of GPS module comprises the velocity error that distance error that clocking error causes and clock frequency error cause, all adopts first-order Markov process to be described in this utility model.For measurement equation, position, speed calculation that almanac data that provides with the GPS module and INS module provide obtain pseudorange and the pseudorange rates of INS module with respect to gps satellite, and compare as the input observed reading of sef-adapting filter with pseudorange and pseudorange rates that the GPS module provides, state equation and observation equation are carried out linearization and discretize, the input initial parameter drives wave filter, estimate the margin of error of this integrated navigation system by making up sef-adapting filter, then two subsystems are proofreaied and correct.

GPS and INS module error correction

The mode of employing feedback compensation compensates the error of GPS and INS module, weakens the error accumulation effect of INS module and GPS module position and the velocity error that clock drift produced, and improves the navigation accuracy of integrated navigation system.In the process of error correction, considered to be blocked when gps satellite, the GPS module can't be finished the situation of location when as seen the star number order was less than 4, utilize the navigation data of INS that gps signal is compensated this moment, under extreme case even can utilize the INS module to navigate and locate at short notice separately, improved the reliability and the continuity of integrated navigation system.

GPS module carrier tracking loop is auxiliary

GPS module carrier tracking loop ancillary technique is the core of this utility model, and GPS module carrier tracking loop is very responsive to external disturbance, and when receiver is in when motor-driven on a large scale, the easy losing lock of GPS receiver causes the GPS module can not implement navigation and location.Pseudorange, pseudorange rates in the INS module are down auxiliary, the loop noise bandwidth of GPS module carrier tracking loop narrows down, its dynamic property and antijamming capability will improve greatly, antijamming capability of the present utility model can improve 12dB on the basis of existing receiver, its carrier tracking loop modular concept block diagram as shown in Figure 3.Consult Fig. 3: the INS module is estimated the gps satellite signal frequency, obtain the needed quenching frequency of GPS module carrier tracking loop, under the INS secondary status, whole loop is followed the tracks of frequency error, and these errors comprise: satellite-signal Doppler evaluated error, clock frequency estimated bias and the clock frequency shake that is caused by the carrier dynamic change.

In this integrated navigation system, the signal trace error is relevant with signal energy, loop bandwidth and estimated frequency error.In order to improve the adaptive ability of receiver, the utility model adopts not the fixedly design philosophy of loop bandwidth, the carrier tracking loop bandwidth is along with the difference of signal power is adjusted adaptively, and this utility model can guarantee that not only receiver has good antijamming capability and can also guarantee high orientation precision simultaneously.Basic thought is: preferably under the environment, when signal intensity is higher than loose lock threshold, thereby the tracking accuracy that improves system guarantees precise navigation in signal intensity such as outdoor.In addition, under low signal-to-noise ratio environment such as city, forest, tunnel, dynamic adjustments track loop bandwidth makes tracking error reach minimum, improves the antijamming capability of receiver.

The utility model adopts completely new approach that GPS receiver carrier tracking loop under the high dynamic environment is carried out INS and assists.Compare with classic method, the householder method of this utility model can obviously improve the antijamming capability of receiver, can guarantee high-precision real-time navigation again.This utility model receiver antijamming capability can improve 12dB, can tracking signal power under low signal-to-noise ratio environment such as city, forest, tunnel be-the weak gps signal of 178dBW and bearing accuracy be in 35 meters.This utility model can obviously improve dynamic, reliability, precision and the real-time of GPS receiver.

For purpose, structural attitude and function thereof to utility model have further understanding, conjunction with figs. is described in detail as follows now:

[description of drawings]

The receiver principle block diagram of Fig. 1 inertia auxiliary satellite navigation system

The receiver data fusion model theory diagram of Fig. 2 inertia auxiliary satellite navigation system

Fig. 3 GPS module carrier tracking loop is assisted theory diagram

[embodiment]

Further specify particular content of the present utility model and embodiment below in conjunction with accompanying drawing.

Suppose that receiver is in the dynamic environment of 30g, the gps signal power of receiver L1 wave band only is-178dBW.

Consult Fig. 1, Fig. 2 and shown in Figure 3, the receiver of a kind of inertia auxiliary satellite navigation described in the utility model system is made of GPS receiver module 1, the INS module 2 with synchronous clock input interface and 3 three parts of data fusion module of band auxiliary input.The GPS electromagnetic wave that arrives when radio frequency is converted into the microwave electric signal, and after carrying out low-pass filtering and amplification, signal is switched to low frequency after three grades of mixing, low frequency signal is converted into digital signal behind the A/D sample quantization, digital signal is admitted to the associative processor of 12 passages, and each satellite all has corresponding with it unique related channel program.Local reproducing signal carries out relevant treatment with the signal that receives in correlator, all processing procedures are all finished in the correlator of 12 passages, obtains pseudorange, pseudorange rates that two ways of digital signals also obtains the GPS module thus after relevant treatment.

The INS module is calculated the position and the speed of INS module under the control of GPS module synchronizing pulse, extract almanac data and determine the position of satellite and calculate pseudorange, the pseudorange rates of INS module with respect to gps satellite thus.Pseudorange, pseudorange rates that this pseudorange, pseudorange rates and GPS module obtain merge through adaptive Kalman filter, and the estimate of error after the fusion is revised to improve the precision of integrated navigation system the margin of error of GPS module and INS module.

Carrier doppler frequency displacement and clock frequency error are estimated that the carrier doppler frequency displacement is relative velocity the component on line of vision direction of receiver with respect to satellite to finish auxiliary to GPS module carrier tracking loop, and estimation model is:

f dopp = 1 λ ( V RX - V S ) · I S

Wherein, λ is L 1The frequency range carrier wavelength; V RXVelocity for receiver antenna; V SVelocity for satellite; I SBe the line of vision vector of receiver to satellite.Clock frequency error is the error that all has on 12 passages, and estimation model is:

In the utility model, the feedforward branch road of carrier tracking loop comprises a low-pass filter and outside additive error, low-pass filter can limit the bandwidth of INS module, bandwidth narrows down and can improve the antijamming capability of receiver, improve its dynamic property, adopt BREATHABLE BANDWIDTH thought, dynamic change guarantees its dynamic property and antijamming capability to GPS module carrier tracking loop bandwidth with the signal to noise ratio (S/N ratio) variation of received signal.

Claims (4)

1. the receiver of an inertia auxiliary satellite navigation system, comprise GPS module (1), INS module (2) and data fusion module (3), it is characterized in that: have synchronous clock input interface and angular speed and link to each other with the synchronizing clock signals output terminal of GPS module than the synchronous clock input end of the INS module of force information output interface, speed and specific force information output link to each other with the data input pin of data fusion module, and the data output end of data fusion module links to each other with the input end of GPS module carrier tracking loop.
2. the receiver of inertia auxiliary satellite navigation according to claim 1 system, it is characterized in that described GPS module (1) comprises carrier tracking loop auxiliary unit and the 12 passage correlator unit that are used to do relevant treatment, the synchronous clock output terminal of the input end of the carrier tracking loop auxiliary unit in the GPS module (1) and 12 passage correlator unit is respectively the input end and the synchronizing clock signals output terminal of GPS module carrier tracking loop.
3. the receiver of inertia auxiliary satellite navigation according to claim 1 system, it is characterized in that described INS module (2) comprises angular speed and specific force information output unit and synchronous clock input block, the input end of the angular speed in the INS module (2) and the output terminal of specific force information output unit and synchronous clock input block is respectively INS rate module and specific force information output and synchronous clock input end.
4. the receiver of inertia auxiliary satellite navigation according to claim 1 system, it is characterized in that described data fusion module (3) comprises INS computing unit and INS/GPS integrated kalman filter unit, the output terminal of the input end of the INS computing unit in the data fusion module (3) and INS/GPS integrated kalman filter unit is respectively the data input pin and the data output end of data fusion module.
CN2010201622023U 2010-04-19 2010-04-19 Receiver of inertial navigation system/satellite navigation system CN201751861U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103278837A (en) * 2013-05-17 2013-09-04 南京理工大学 Adaptive filtering-based SINS/GNSS (strapdown inertial navigation system/global navigation satellite system) multistage fault-tolerant integrated navigation method
CN103675844A (en) * 2013-11-18 2014-03-26 航天恒星科技有限公司 Synchronous simulation system of GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) integrated navigation
CN104990554A (en) * 2015-05-04 2015-10-21 南京邮电大学 Inertial navigation positioning method in GNSS blind area based on cooperation between VANET vehicles
CN107844361A (en) * 2017-11-10 2018-03-27 石家庄学院 Movement locus analogue simulation system
CN108445483A (en) * 2018-03-16 2018-08-24 成都锦江电子系统工程有限公司 Water floats plant radar sensing system

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103278837A (en) * 2013-05-17 2013-09-04 南京理工大学 Adaptive filtering-based SINS/GNSS (strapdown inertial navigation system/global navigation satellite system) multistage fault-tolerant integrated navigation method
CN103278837B (en) * 2013-05-17 2015-04-15 南京理工大学 Adaptive filtering-based SINS/GNSS (strapdown inertial navigation system/global navigation satellite system) multistage fault-tolerant integrated navigation method
CN103675844A (en) * 2013-11-18 2014-03-26 航天恒星科技有限公司 Synchronous simulation system of GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) integrated navigation
CN103675844B (en) * 2013-11-18 2015-10-21 航天恒星科技有限公司 A kind of GNSS/INS integrated navigation synchronously simulating system
CN104990554A (en) * 2015-05-04 2015-10-21 南京邮电大学 Inertial navigation positioning method in GNSS blind area based on cooperation between VANET vehicles
CN104990554B (en) * 2015-05-04 2018-03-13 南京邮电大学 Based on the inertial navigation localization method to be cooperated between VANET vehicles in GNSS blind areas
CN107844361A (en) * 2017-11-10 2018-03-27 石家庄学院 Movement locus analogue simulation system
CN108445483A (en) * 2018-03-16 2018-08-24 成都锦江电子系统工程有限公司 Water floats plant radar sensing system

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Granted publication date: 20110223

Termination date: 20110419