TW444129B - Full fusion positioning method for vehicle - Google Patents
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444129 經濟部中央標準局負工消費合作社印製 A7 B7 五、發明説明（1 )444129 Printed by the Consumer Standards Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 B7 V. Description of Invention (1)
'本發明係與運載體之定位方法有關，特別是指一種運 載體之全融合定位方法（FuU Fusi〇n p〇siti〇ning Meth〇d fOT'The present invention relates to the positioning method of a carrier, and in particular refers to a full fusion positioning method of a carrier (FuU Fusi〇n p〇siti〇ning Meth〇d fOT
Vehicle)，其中來自全球定位系統、慣性角速率感應器， 及慣性加速度計的信息，被完全融合處理，以便獲得高性 5能的定位數據，滿足一些對定位性能要求較高的應用場合 ，如長期的高精度、高抗干擾和高動態性能。 儘管只是在最近幾十年，運载體之定位系統才廣泛地 被人們所熟悉，但它可追溯到很早以前；世界上第一個運 載體定位系統是指南車，它是公元2〇〇_3〇〇年（據傳説可能 10更早)由中國發明的一種自動穩定方向系統，它要比磁羅盤 問世早一千年，它的操作原理是基於一個基本的現象，當 車輪改變方向時，外車輪走過的距離要比內萆輪多，這是 肮向變化值的簡單數學函數；當航向變化時，由外車輪驅 動的齒輪，轉動一個水平轉台，以便精確地抵消航向的變 15化，如此，無論指南車的航向如何變化，安裝在這個水平 轉台上的假人的伸開的手臂，就像羅盤的指針總是保持在 同樣的方向上；隨著定位系統和其它相關领域的技術的不 斷進步，現已有不同種類的定位系統。 隨著定位系統技術的不斷進步，這種低成本、體積小 20 '高精度的定位系統，將會出現具有廣泛的商業應用價值 ;運載體定位系統的應用範圍就像野火一般的散開，如用 於汽車、計程車、公共汽車、火車、機器人、探礦、建築 ，以及像行動電話的911緊急呼叫的個人通信市場編碼和 敷據傳送。 (請先閎讀背面之注$項再填寫本頁) .裝. 訂' 83. 3.1〇>〇〇0 it 14412 9 A7 B7 X、發明説明（2 ) 10 15 經濟部中央標準局員工消費合作社印製 對於先進的商業車輔追蹤系統來説，汽車導航和路徑 導引系統’以及智慧車輔高速公路系統來説，要求具有車 輛定位能力，是這些系統的基本要求。 智慧車輛高速公路系統正被世界性地發展著，並藉由 資訊的應用、通信、定位、控制等技術，以有效、安全及 在環境方面能改善道路交通。 一般來説，傳統運載體定位的方法和系統有航程推算 系統（DEAD REELONING SYSTEM)，無線電定位系統 ，以及混合系統(HYBRID SYSTEM);本發明是一種混合 的，來決定運載體之位置及狀態的全融合定位方法。 航程推算系統是基於慣性角速率和慣性角加速度計測 量，來提供運载體之位置及狀態等訊息；該航程推算系統 包含有一慣性測量組件(inertial measurement UNIT)及處理器；該慣性測量组件包括用來當作加速度感 應器以測量载體的加速度之三個正交安裝和多個歪斜的加 速度計，及用來測量運载體的角速率以測量載體的角加速 度之三個JE交安裝和多個配置_機，以及其他相 關的硬體；這些零件紐了必類資訊絲定—導航參考 座標系，以達成與载體的旋轉運動相隔離之目的，在平台 式慣性系統巾，這個_絲系是通趣録實現的，在 捷聯慣性綠巾，魏麵座;t：m麵析平台；導航 處理機處理用來自慣性測量組件的載體加速度和角率信息 ;在給定娜位置和完肋始鮮餅後，紐可以連續 输出位置、速度、姿態等數據。 Λ ---------裝------打------ (請先閎讀背面之注意事項再填寫本頁) -4- 私紙張( CNS ) A4g ( 83.3-1〇,〇〇0 經濟部中央標準局貝工消費合作社印製Vehicle), in which the information from the global positioning system, inertial angular rate sensor, and inertial accelerometer are fully integrated to obtain high-performance 5 performance positioning data to meet some applications with high positioning performance requirements, such as Long-term high accuracy, high anti-interference and high dynamic performance. Although the carrier positioning system has been widely known only in recent decades, it can be traced back to a long time ago; the world's first carrier positioning system was a guide car, which was 200 AD. _300 (according to the legend may be 10 earlier) an automatic direction-stabilizing system invented by China. It was a thousand years before the advent of the magnetic compass. Its operating principle is based on a basic phenomenon. When the wheel changes direction The outer wheel travels more distance than the inner wheel. This is a simple mathematical function of the change in direction. When the heading changes, the gear driven by the outer wheel rotates a horizontal turntable to accurately offset the change in heading. In this way, no matter how the guidance car ’s heading changes, the extended arm of the dummy on this horizontal turntable is like the compass's pointer always kept in the same direction; along with the positioning system and other related fields, With the continuous advancement of technology, there are now different types of positioning systems. With the continuous advancement of positioning system technology, this low-cost, small 20 'high-precision positioning system will have a wide range of commercial application values; the application range of carrier positioning systems is like the spread of wildfire, such as Personal communication market codes and data transmission for cars, taxis, buses, trains, robots, prospecting, construction, and 911 emergency calls like mobile phones. (Please read the note on the back before filling in this page). Assemble. Order '83. 3.1〇 > 〇〇0 it 14412 9 A7 B7 X, Invention Description (2) 10 15 Employees of Central Bureau of Standards, Ministry of Economic Affairs Cooperative printing For advanced commercial vehicle auxiliary tracking systems, car navigation and path guidance systems, and smart vehicle auxiliary highway systems, the requirement for vehicle positioning capabilities is a basic requirement of these systems. The intelligent vehicle highway system is being developed worldwide, and the use of information, communication, positioning, and control technologies can improve road traffic effectively, safely, and environmentally. Generally speaking, traditional carrier positioning methods and systems include a range estimation system (DEAD REELONING SYSTEM), a radio positioning system, and a hybrid system (HYBRID SYSTEM); the present invention is a hybrid to determine the position and status of the carrier Full fusion positioning method. The range estimation system is based on inertial angular rate and inertial angular accelerometer measurements to provide information such as the position and status of the carrier. The range estimation system includes an inertial measurement unit and an processor. The inertial measurement unit includes Three orthogonal installations and multiple skewed accelerometers used as acceleration sensors to measure the acceleration of the carrier, and three JE cross-installed and used to measure the angular velocity of the carrier to measure the angular acceleration of the carrier Multiple configurations _machines and other related hardware; these parts are bound to the necessary information-navigation reference coordinate system, in order to achieve the purpose of isolation from the carrier's rotary motion, in the platform-type inertial system towel, this _ The wire system is realized by Tongqulu, in the strapdown inertial green scarf, Wei surface seat; t: m surface analysis platform; the navigation processor processes the acceleration and angular rate information of the carrier from the inertial measurement component; at the given position and After the ribs are finished, the button can continuously output position, speed, and attitude data. Λ --------- install ------ print ------ (Please read the precautions on the back before filling this page) -4- Private paper (CNS) A4g (83.3- 10.0% Printed by the Shellfish Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs
444129 A7 B7 五、發明説明（3 ) ' -- '以慣性角速率感應器及慣性加速度感應器為基礎的航 程推算紐’通常娜為紐導鮮統祕性錄系統或 慣性參考錄；额其他定位紐概，最大_點是其 完全的自主操作特性和提供較寬的頻帶e ^ 5 然而慣性定位系統成本昂貴且其誤差隨時間增加，這 主要是由於其感應器誤差，如陀螺儀漂移、加速度計偏置 及刻度係數誤差引起的。 通常，提高慣性定位系統精度的方法，是探用高精度 的i貝性感應器及探用外部感應器來猶助慣性定位系統。 10 全球定位系統、（Global Positioning System, GPS)是一個 基於衛星的、全球性、全天候的無線電定位和授時系統； 該系統原來是設計在全球公用網路系統中，提供無數裝有 接收設備的用户精確位置'速度及時間資訊等服務。 用户須有特定的接收機方可獲得全球定位系統的服務 15 ; 一個傳統的單天線GPS接收機，藉由處理它的碼跟蹤環 路和載波跟蹤環路的偽距（pseud〇 Range)和偽距率（Delta Range)測量，提供用户精度的三維位置、速度和時間信息 ，然而沒有姿態信息；在正常的情況下，GPS信號的傳播 誤差和衛星誤差，包括選擇可用性(SelectiveAvailabiUty广 20限制了GPS的誤差範圍；然而GPS信號易於受到有意和無 意的干擾和欺骗’而在載體姿態機動時GPS信號易被遮擋 ，另外，當GPS信號噪聲比較低或载體在作高動態的機動 時^ GPS信號易丟失從而導致性能降低》 隨著高性能GPS接收機的成本和體積的不斷減少，多 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公茇） ---------------IT------J (請先閲讀背面之注意事項再填寫本頁) 83.3.10,000 經濟部中央標隼局員工消费合作社印製 ί' 444129 Α7 ______Β7 五、發明説明（4 ) 天線GPS接收機’探用干涉相位技術，可 同時提供位置和姿態信息；這種技術係利用(}]?；3載波相位 在GPS多天線上的差分測量，以獲得高精度的相對位置測 差，然後將之轉換為姿態結果；這種技術的優點是姿態精 5度可保持長期的穩定性，且成本較低，但仍有帶寬較窄和 易被遮擋及干擾的特性，而且要獲得三軸的载體姿態测量 ，則須至少配置3個天線，並要求GPS天線之間僅可能分離 ，以便有足夠的姿態分辨率。 由於單獨的慣性定位系統和單獨的GPS接收機的這些 10內在缺點上，一個單獨的慣性定位系統或一個單獨的Qps 就無法在如低成本、長期高精度連續的输出等場合出現。 由於GPS接收機和惯性定位系統具有互補的特性，因 此很多應用場合，組合GPS/慣性定位系統可以利用兩個系 統的各自優點，能提供連續的導航输出，且具有兩個獨立 15系統所不能達到的高性能；自從GPS的概念在1973年提出 以來，已有很多有關於GPS/慣性定位系統方面的文獻，而 且組合GPS/慣性定位系統已投入了實際的應用。 組合GPS/慣性定位系統的優點可概括如下： (1 )可以使用惯性定位數據辅助GPS信號跟蹤環路， 20從而提高了其在噪聲和動態環境下的追蹤能力。 . (2) 當GPS信號暫時消失後，慣性定位系統不但可提 供定位訊息，而且可以降低重新捕獲Gps信號所需的搜 時間。 " (3) 當GPSjg號可以獲得時f慣性定位系統的誤差和 ---------裝------訂------ (請先閲請背面之注意事項再壤窝本頁} 本紙張尺度適用中國國家榡準（CNS ) A4規格（ 83. 3, *〇,〇〇〇 4441 2 9 Α7 Β7 經濟部中央操準局貝工消費合作社印製 五、發明説明（5 ) 慣性感應器的誤差可以被校正，因此Gps信號消失後，慣 性定位系統可提供更精確的位置訊息。 (4)借助於載體機動，GPS可以對惯性定位系統進行 動基座對準，從而可取消慣性定位系統在進入正常操作之 5前所需的靜基座對準》 但是上述的性能優點，並非是任何標準的組合Gps/慣 性定位系統都可達到的。現有以下幾種由各種硬體及軟體 標準所組合GPS/慣性定位系統： (1) 第一種方法，也是最簡單的一種組合方式，那 10就是使用GPS的位置和速度，.來重調慣性定位系統。.. (2) 第—種方法被稱為串聯式(Cascaded 丨 組合GPS/'h性疋位系統；在适種組合方式中，組合Gps/慣 性定位系統的卡爾曼濾波器(Kalman Filter)，使用GPS接收 機内部的卡爾慮波器的輸出，作為它的量刺，這種方法 15具有濾波路驅動濾波器的結構特點。 (3 )桌二種方法稱為緊賴合) gps/慣 性定位系統；在這種組合方式中，組合卡爾曼濾波器直接 處理GPS接收機的原始測量值(偽距和偽距率獲得慣性 定位系統誤差、慣性感應器誤差、GPS接收機時鐘誤差的 20最佳估計；惯性定位系統係用來辅助GPS接收機的信號跟 環路，用以提高GPS接收機在噪聲和高動態環境下的信號 跟蹤性能。 ° Λ 緊耦合GPS/慣性定位系統是努力實現上述組合Gps/慣 性定位系統潛在優點的結果。 " (请先閲讀背面之注意事項再填寫本Κ ) -裝. -訂 本紙張尺度適用中國囤家檁準（CNS ) Α4規格（210Χ297公釐） 83.3.10,000 經濟部中央樣準局®C工消f合作社印製· / 444129 A7 "------ B7 五、發明説明（6 ) 一' —〜' 僅管緊耦合GPS/慣性定位系統已得到了實際應用，但 是對於實現GPS/慣性定位系統的最優組合來説，傳統的緊 耦合GPS/慣性定位系統仍然有許多不足之外，這主要是由 於兩系統之間數據交換的不足所造成的潛在的不穩定。 5 給健㈣合⑽/雜定位賊娜職不穩定的原 因在於： (1) 慣性輔助的GPS信號跟蹤環路具有窄的帶寬，其 時間常數還大於GPS/慣性組合的卡爾曼職器的更新周期 ，慣性輔助誤差被緩慢地濾掉；GPS信號追蹤誤差不但是 10與時間有關，而且與組合卡爾曼據波器中建立的慣性定位 系統的誤差是細的H受哪信舰職差擾賴 GPS偽距、偽距率量測的統計特性，與組合卡爾曼遽波對 量測的要求是不相容的。 、 (2) 在傳統的緊耦合GPS/慣性定位系統中，存在一 I5個JE反||回路：慣性定位數據下降會增大Gps接數器的追 ，誤差’·囡為GPS量測的精度會嚴重影嚮為低精度慣性定 2系統的卡爾曼㈣器的健，這樣，誤差在增大的GPs 量測被饋入組合卡爾曼濾波器處理，進一步會導致慣性輔 助誤差的增大。 20 除了上述的不穩定性問題，傳統的緊耦合GPS/慣性定 位系統方法不便於撿測和隔離發現故障^^^衛星的信號， 這是由於組合卡爾曼濾波器以集中的方式處理所有^ 訊息。 本發明之主要目的在提供一種全融合導航定位方法， 本紙張肅用―石 83. 3. 10,000 ---------rvt.------IT------.}級 (請先閲讀背面之注意事項再填寫本頁) 經濟部中央樣準局員工消費合作社印製 444129 A7 B7 五、發明説明（7 ) '— 其中，來自GPS、憤性角速率感應器、慣性加速度感應器 的信息’用全融合的方式進行處理來提高其性能，以滿足 -些性能要求__用場合，如長期的高精度、高動態 能力及抗干擾釓力；本發明不但可用現有的硬體實現，而 5且更適合臟在出現的圖片級集成㈣㈣ 的硬體實現者。 本發明之又一目的在提供一種全融合導航定位方法， 其中，探用了全數位、多層信號/數據處理流程者。 本發明之再一目的在提供一種全融合導航定位方法， 10其中，傳統的基於鎖相環路的GPS信號追蹤方法，被一種 在整個系統中實現GPS信號追縱方法取代；Gps信號的追 蹤處理方法在整個GPS/慣性定位系統中被實現，以便克服 傳統緊耦個GPS/慣性系統的潛在不穩定性，增強〇]?3在高 動態和強干擾環境中的信號追蹤能力者。 15 本發明之另一目的在提供一全融合導航定位方法，其 中，一個最大依然估計器提供GPS偽距和偽距率的追蹤誤 差，以便補償GPS的偽距和偽距率測量中的相關噪聲，同 時融合之後的最佳導航參數用來計算預测的Gps的偽距和 偽距率，來包含GPS信號的追蹤環路者。 20 本發明之另一目的在提供一全融合導肮定位方法，其 中’具有雙重功能的融合濾波器不但用來融合GPS和慣性 感應器的數據，而且具有GPS信號追蹤環路的環路濾波功 能者。 本發明之另一目的在提供一全融合導航定位方法，其 ---------){^------1T----- (請先聞讀背面之注意事項再填寫本頁) 本紙張纽適i中 ( CNS ) Α4· ( 21(}；)<297公资） 83. 3. 10,000 444129 Α7 Β7 五、發明説明（8 ) 中，具有雙重功能的融合濾波器運用了平行、分散的卡爾 曼過遽器，以便於當GPS衛星出現故障時，據波器能重新 配置者。 本發明之另一目的提供一全融合導航定位方法，其中 5 ，探用多層的容錯設計以便增進該全融合定位結果的可靠 性者》 本發明之另一目的在提供一全融合導航定位方法，其 中’採用了多if的容錯設計，以便於實現GPS的全程監控 者。 10 為實現上逑目標，本發明提供的全融合導.航定位方法 包括以下步驟： (a) 績入來自GPS天線的GPS信號，及來自數據融合 的預測的偽距和偽距率變換和追蹤Gps信號，以便獲得偽 距和偽距率測量及其追蹤誤差，將之饋入上述的數據融合 15模塊。 (b) 接收來自慣性測量組件的運載體之角速率和加 速度信號，求解慣性導航方程式以獲得參考的導航方法， 並將位置、速度、姿態饋入上述的數據融合模塊。 (c) 融合上述的偽距和偽距率測量及其追蹤誤差， 經濟部中央榇準局貝工消費合作社印製 ---------o-^— (請先閱積背面之注意事項再填寫本頁) 訂 20以及參考的導航數據，獲得預測的偽距和偽距率，參考導 航參數和慣性感應器的誤差，以及最佳的導航參數。 圖示説明： 第一圖：係全融合導航定位方法的方塊圖。 第二圖：係GPS信號的預處理方塊圖。 -10,444129 A7 B7 V. Explanation of the invention (3) '-' Range estimation based on the inertial angular rate sensor and inertial acceleration sensor 'is usually used as the secret record system or inertial reference record of the New Zealand guide system; The most important point for positioning is its completely autonomous operating characteristics and providing a wide frequency band e ^ 5. However, the inertial positioning system is expensive and its error increases with time. This is mainly due to its sensor errors, such as gyroscope drift, Accelerometer bias and scale factor errors. Generally, the method to improve the accuracy of the inertial positioning system is to use a high-precision i-beam sensor and an external sensor to help the inertial positioning system. 10 Global Positioning System (GPS) is a satellite-based, global, all-weather radio positioning and timing system; the system was originally designed in a global public network system, providing countless users with receiving equipment Precise location 'speed and time information services. The user must have a specific receiver to obtain Global Positioning System services. 15 A traditional single-antenna GPS receiver handles the pseudorange and pseudorange of its code tracking loop and carrier tracking loop. Distance measurement (Delta Range) measurement provides user-accurate three-dimensional position, velocity, and time information, but no attitude information; under normal circumstances, GPS signal propagation errors and satellite errors, including selective availability (SelectiveAvailabiUty wide 20 GPS limitation However, the GPS signal is susceptible to intentional and unintentional interference and deception, and the GPS signal is easily blocked when the carrier is maneuvering. In addition, when the GPS signal noise is low or the carrier is performing high dynamic maneuver ^ GPS signal Easy to lose resulting in reduced performance "With the continuous reduction of the cost and volume of high-performance GPS receivers, many paper sizes apply the Chinese National Standard (CNS) A4 specification (210X297 cm) ---------- ----- IT ------ J (Please read the precautions on the back before filling out this page) 83.3.10,000 Printed by the Staff Consumer Cooperative of the Central Bureau of Standards, Ministry of Economic Affairs ί '444129 Α7 ______ Β7 V. Description of the invention (4) Antenna GPS receiver 'Probing interference phase technology can provide position and attitude information at the same time; this technology uses (}] ?; 3 carrier phase differential measurement on GPS multiple antennas, Obtain high-precision relative position measurement, and then convert it into attitude results; the advantage of this technique is that attitude precision of 5 degrees can maintain long-term stability and lower cost, but it still has a narrow bandwidth and is easy to be blocked. Interference characteristics, and to obtain three-axis carrier attitude measurement, at least three antennas must be configured, and the GPS antennas must only be separated from each other in order to have sufficient attitude resolution. Because of the separate inertial positioning system and separate With regard to these 10 inherent shortcomings of GPS receivers, a single inertial positioning system or a single Qps cannot appear in situations such as low cost and long-term high-precision continuous output. Because GPS receivers and inertial positioning systems have complementary characteristics Therefore, in many applications, the combined GPS / inertial positioning system can take advantage of the respective advantages of the two systems, can provide continuous navigation output, and has There are two independent 15 systems with high performance that cannot be achieved; since the concept of GPS was introduced in 1973, there have been many literatures on GPS / inertial positioning systems, and combined GPS / inertial positioning systems have been put into practical use. The advantages of the combined GPS / inertial positioning system can be summarized as follows: (1) Inertial positioning data can be used to assist the GPS signal tracking loop, thereby improving its tracking ability in noise and dynamic environments. (2) When the GPS signal After temporarily disappearing, the inertial positioning system can not only provide positioning information, but also reduce the search time required to recapture the Gps signal. " (3) When the GPS jg number is available, the error of the inertial positioning system and ----------------------------- (Please read the precautions on the back first Zailongwo Homepage} This paper size is applicable to China National Standards (CNS) A4 specifications (83. 3, * 〇, 〇〇〇〇4441 2 9 Α7 Β7 Printed by Shellfish Consumer Cooperative, Central Bureau of Standards, Ministry of Economic Affairs Explanation (5) The error of the inertial sensor can be corrected, so after the Gps signal disappears, the inertial positioning system can provide more accurate position information. (4) With the help of the carrier maneuver, GPS can perform the moving base alignment of the inertial positioning system. Therefore, the static base alignment required by the inertial positioning system before entering normal operation 5 can be canceled. However, the above-mentioned performance advantages are not achievable by any standard combined GPS / inertial positioning system. The following several existing Various hardware and software standards combined GPS / inertial positioning system: (1) The first method is also the simplest combination method, then 10 is to use GPS position and speed to readjust the inertial positioning system .. (2) The first method is called Cascaded GPS / 'h positioning system; In a suitable combination method, the Kalman filter of the GPS / inertial positioning system is combined, and the output of the Kalman filter in the GPS receiver is used as its measurement This method 15 has the structural characteristics of a filter-driven filter. (3) The two methods of the table are called tightly coupled) GPS / inertial positioning system; in this combination, the combined Kalman filter directly processes GPS reception. The machine ’s original measurement values (pseudo-range and pseudo-range rate obtain 20 best estimates of inertial positioning system error, inertial sensor error, and GPS receiver clock error; the inertial positioning system is used to assist the GPS receiver's signal and loop, It is used to improve the signal tracking performance of GPS receivers in noise and high dynamic environments. ° Λ Tightly coupled GPS / inertial positioning system is the result of efforts to realize the potential advantages of the combined GPS / inertial positioning system described above. (Please read the back Note for refilling this K)-Packing.-The paper size of the book is applicable to China Standards (CNS) Α4 size (210 × 297 mm) 83.3.10,000 Central Bureau of Standards of the Ministry of Economic Affairs® C Industrial Consumers Cooperative / 444129 A7 " ------ B7 V. Description of the invention (6) A '— ~' Only the tightly coupled GPS / inertial positioning system has been applied in practice, but for the realization of GPS / inertial positioning system In terms of the optimal combination, the traditional tightly coupled GPS / inertial positioning system still has many shortcomings, which is mainly due to the potential instability caused by the lack of data exchange between the two systems. The reasons for the instability in positioning are as follows: (1) The inertial-assisted GPS signal tracking loop has a narrow bandwidth and its time constant is greater than the update period of the Kalman server of the GPS / inertial combination. The inertial assistance error is slowly Filtered out; GPS signal tracking error is not only related to time, but also the error with the inertial positioning system built in the combined Kalman wave receiver is small. The interference caused by GPS is dependent on the GPS pseudorange and pseudorange rate. The statistical characteristics of the measurement are incompatible with the measurement requirements of the combined Kalman chirp. (2) In the traditional tightly coupled GPS / inertial positioning system, there is an I5 JE inverse || loop: the fall of the inertial positioning data will increase the tracking of the Gps connector, and the error '· 囡 is the accuracy of GPS measurement It will seriously affect the health of the Kalman filter of the low-precision inertial fixed system. In this way, the GPs measurement with increasing errors is fed into the combined Kalman filter for processing, which will further increase the inertial assistance error. In addition to the instability problems mentioned above, the traditional method of tightly coupled GPS / inertial positioning system is not convenient to detect and isolate faults ^^^ The signal of the satellite is due to the combined Kalman filter processing all the messages in a centralized manner . The main object of the present invention is to provide a fully integrated navigation and positioning method. This paper uses ―83. 3. 10,000 --------- rvt .------ IT ------. } Level (please read the notes on the back before filling this page) Printed by the Consumer Cooperatives of the Central Procurement Bureau of the Ministry of Economic Affairs 444129 A7 B7 V. Description of Invention (7) '— Among them are GPS, angry angular rate sensor, The information of the inertial acceleration sensor is processed in a fully integrated manner to improve its performance to meet some performance requirements. Applications such as long-term high accuracy, high dynamic capability, and anti-jamming force; the present invention can not only use existing Hardware implementation, and 5 is more suitable for hardware implementers who have dirty picture-level integration. Another object of the present invention is to provide a fully integrated navigation and positioning method, in which all digital, multi-layer signal / data processing processes are used. It is another object of the present invention to provide a fully integrated navigation and positioning method.10 Among them, the traditional GPS signal tracking method based on phase-locked loop is replaced by a GPS signal tracking method in the entire system; Gps signal tracking processing The method is implemented in the entire GPS / inertial positioning system in order to overcome the potential instability of traditional tightly coupled GPS / inertial systems and enhance the signal tracking ability in high dynamic and strong interference environments. 15 Another object of the present invention is to provide a fully integrated navigation and positioning method, in which a maximum estimator provides tracking error of GPS pseudorange and pseudorange rate in order to compensate for GPS pseudorange and related noise in pseudorange rate measurement. At the same time, the best navigation parameters after fusion are used to calculate the predicted pseudo-range and pseudo-range rate of the GPS to include the tracking loop of the GPS signal. 20 Another object of the present invention is to provide a fully-fusion-guided positioning method, in which a fusion filter with dual functions is used not only to fuse GPS and inertial sensor data, but also to have a loop filtering function of the GPS signal tracking loop. By. Another object of the present invention is to provide a fully integrated navigation and positioning method, which ---------) {^ ------ 1T ----- (Please read the precautions on the back before reading (Fill in this page) This paper New Zealand i (CNS) Α4 · (21 (};) < 297 public funds) 83. 3. 10,000 444129 Α7 Β7 5. In the description of the invention (8), a fusion filter with dual functions The device uses parallel, decentralized Kalman filters, so that when the GPS satellite fails, the data receiver can be reconfigured. Another object of the present invention is to provide a fully integrated navigation and positioning method. Among them, 5 is a multi-layer fault-tolerant design to improve the reliability of the fully integrated positioning result. Another object of the present invention is to provide a fully integrated navigation and positioning method. Among them, a multi-if fault-tolerant design is adopted to facilitate the realization of GPS's full monitor. 10 In order to achieve the upper target, the fully integrated navigation and navigation positioning method provided by the present invention includes the following steps: (a) GPS signals from GPS antennas, and predicted pseudorange and pseudorange rate conversion and tracking from data fusion Gps signals in order to obtain pseudorange and pseudorange rate measurements and their tracking errors, and feed them into the above-mentioned data fusion 15 module. (b) Receive the angular velocity and acceleration signals of the carrier from the inertial measurement component, solve the inertial navigation equation to obtain a reference navigation method, and feed the position, velocity, and attitude into the above-mentioned data fusion module. (c) Integrating the above-mentioned pseudorange and pseudorange rate measurements and their tracking errors, printed by the Shellfish Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs --------- o-^ — (Please read the Please fill in this page again before ordering) Order 20 and the reference navigation data to get the predicted pseudorange and pseudorange rate, the reference navigation parameter and the error of the inertial sensor, and the best navigation parameter. Graphic description: The first figure: a block diagram of the full fusion navigation positioning method. Figure 2: Block diagram of GPS signal preprocessing. -10,
444 12 9 A7 B7 五、發明説明（9 ) 第三圖：係GPS信號預處理之數位信號處理模塊方塊 圖 第四圖：係慣性測量組件的信號的預處理方塊圖。 第五圖：係數據融合模塊方法之一。 第六圖：係數據融合模塊方法之二。 圖號説明： 10 5-天線 20-GPS信號預處理模塊 22-IF/基帶轉換器 24-數控震盪器 26-混頻器 28-最大似然估計模塊 30-碼產生器 10-慣性測量組件 21-RF/EF轉换器 23-A/D轉換器 25-數字信號處理模塊 27-相關器 29-Sine-Cosine信號產生器 31-碼震盪器 (請先Μ讀背面之注意事項再填寫本頁) 15 20 經濟部中央標準局員工消費合作社印製 50-慣性測量組件預處理模塊51、84、89-FDIR 5 2 -誤差補償模塊 5 3 -姿態矩陣計算模塊 54- 座標變換模塊 56-參考導肮參數計算模 塊 55- 地球和載體角速率計算模塊 80-數據融合模塊 81-集中處理濾波器模塊 82、 87-減法器 85-本地濾波器模塊 83、 88-預测的偽距和偽距率計算模塊 56- 主濾波器模塊 90、91-開關 本發明係GPS信號和慣性感應器信號之全融合導航定 位方法，以便提供運载體之連續的位置信息；請參閲第一 -11- 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐） 83. 3.10,000 ^ . 4 4 -4 1 2 9 A7 五、發明説明（10 ) 一- $第六圖所示，本發明之全融合導航定位方法包含下列 1‘饋入來自GPS天線5之GPS信號，對之進行轉換和預 處理、’以便獲得GPS的測量數據，包括偽距' 偽距率，並 5將之送入數據融合模塊8〇 ; 接收來自慣性測量組件10的運載體之角速率和加速 度信號徵據’求解慣性導航方程式以獲得參考的導航數據 ，如位置、速度及姿態等，並將之送人數據融合模塊. 3.融合上逑GPS的测量數據和參考慣性導航參數，以 10便獲得最佳旳定位信息； 為了提咼系統性能，在第一步驟中，GPS信號的追蹤 處理探用開環方式，且完整的GPS信號追蹤環路在數據融 合模塊80中閉合’以便提高對干擾和載體高動態的容限。 為了提高系統的性能，在第二步驟中，來自數據融合 15模塊80的參考導航數據誤差的最佳估計值用來補償參考導 航數據中的誤差。 如第二圖所示，第一步驟進一步包含以下步驟： 經濟部中央標準局員工消費合作社印製 (1-1)由GPS天線5接收的L段GPS RJF(Radio Frequency) 信號’被傳入一RF/IF (Intermediate Frequency )轉換器21， 20输入的妳信號和來自本地數控震盪器24的信號進行混頻， 混頻之後的信號，經低通濾波被轉換為中頻(IF)信號，並 被輸出給一IF/基帶轉換器22。 GPS衛星發射L1波段的GPS RF粗捕獲(Coarse Acquisition，C/A)碼和精確碼(Precision Code，P碼）信號，其 -12- 83. 3.10,000 II mu " i i'},)裝— —--- H ^ • '' (請先閲讀背面之注意事項再填寫本頁) 本紙珉尺度適用中國國家操準（CNS)A4规格（21〇幻97公麓） 444129 A7 B7 五、發明説明（11 ) 第i顆GPS衛星發射的L1波段信號是 - (0 = ο〇5(ω,( + φ) + -j2P^P(t)iD(t)i ύη(ωχ( + φ) 其中：ω, : L1載波角頻率。 0:小的相位噪聲和震盪器漂移部份。 Pc : C/A碼信號的功率。 Ρρ : Ρ碼信號的功率。 10 CA(t) : C/A 碼； P(t) : P碼； D(t) ··導航數據； GPS衛星也發射L2波段的RF及P碼信號·，第瀬GPS衛 15 星發射的L2信號可表示為： S 尸(ί) = 乃⑺,.cos(iiV + A)， (請先閲讀背面之注意事項再填寫本頁) 裝· 訂 經濟部中央標準局員工消費合作社印製 20 其中::是L2載波角頻率； Pj L2-P碼信號的功率； 01 :小的相位噪聲和震盪器漂移部份; Ρ⑴·· Ρ碼； D(t):導航數據。. -13- 本紙張尺度適用中國國家標準{ CNS ) Μ規格（210X297公釐） 83.3. 10,000 444 1 2 A.7 B7 五、發明説明（12 ) 這些信號以光速傳播，並被GPS天線5接收到的GPS信 號可表示為： 5 L1 ： S·1 (0 = (1 - η )Di (〇 cos[(^! + ωίά )t + φ)} + ^lFpPt{t)D-Xt)sm^^ +ωιά)ί + φ)'\ 10 L2 = t (’）= (/ - Γ )D: (t)cos[(w2 + ωιά )t + )], (請先閲绩背面之注意事項再填寫本頁) 經濟部争央標準局員工消費合作社印製 15 其中，r :是碼延時。 〇(^;是多普勒角頻率 . i :表示第i顆GPS衛星 GPS天線5接收到的GPS信號被饋入GPS信號預處理模 20 塊20的RMF轉換器21。 (I-2)來自該RF/IF轉換器21的GPSEF信號被該正/基帶 轉换器22接收，該IF信號與來自該數控震盪器24的信號進 行混頻，然後該混頻過之信號被放大、低通濾波、及轉換 為基帶信號；對C/A碼頻道進行濾波的低通(LP)濾波器的 -14- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 81 3. 10,000 444129 A7 B7 五、發明説明（13 ) 帶寬是1.023MHz，對p碼頻道進行低通爐波的谏波器的帶 寬是10,23MHz ;該基帶信號被送入A/D轉換器23。 (1-3)來自Π7基帶轉换器22的基帶信號是模擬信號，它 被A/D轉換器23接收，該模擬基帶信號被採樣，並形成數 5位信號’其探樣頻率是偽隨機信號頻率的2倍((：/八碼信號 的頻率是2.1518MHz，p碼信號的頻率是21.518MHz.);输 出的數位信號被饋入數字信號處理模塊25 ; _轉換器23 輸出的第i個衛星的數位LI C/A數位信號可表示為： ίο 咖)=4C4[(1+c>7⑽队切 id 吨） 經濟部争夬襟準局員工消费合作杜印製 其中： A:信號幅度》 CA[·]:碼速率為R_，τ = $Τρ與GPS時間相比（Τρ τε碼片寬度），延時為ml的PRN信號，其碼速率等 於（1+e ) R〇，其中 t=fd/fL，且FL是RJF頻率，R() 是沒有經過多普勒頻移(Doppler shift)的碼速率； Ts :是探樣周期》 : 2；riVrs是基帶頻率fb的數位角頻率》 ω & : 2 ττ fdTs是多普勒頻移％的數位角頻率》 0〇 :是n=o時的初始载波相位。 N⑻：是基帶頻率的等效高斯(Gaussian)噪聲。 (1-4)請參閲第二圖及第三圖所示，來自A/D轉換器23 -15- 本紙張尺度適用中囷國家樣隼（CNS >八4说格（21〇乂2刃公釐） 83- 3. !0,〇〇〇 ---------)¾.------1T------ύ ·. 、 (请先閎請背面之注意事項再填寫本頁) 444129 五、發明説明（14 )444 12 9 A7 B7 V. Description of the invention (9) Figure 3: Block diagram of digital signal processing module for GPS signal preprocessing Figure 4: Block diagram for signal preprocessing of inertial measurement component. Figure 5: One of the methods of data fusion module. Figure 6: The second method of data fusion module. Description of drawing number: 10 5-antenna 20-GPS signal pre-processing module 22-IF / baseband converter 24- numerically controlled oscillator 26-mixer 28-maximum likelihood estimation module 30-code generator 10-inertial measurement component 21 -RF / EF converter 23-A / D converter 25-digital signal processing module 27-correlator 29-Sine-Cosine signal generator 31-code oscillator (please read the precautions on the back before filling this page) 15 20 Printed by the Central Consumers Bureau of the Ministry of Economic Affairs, Consumer Cooperatives 50-Inertial measurement component pre-processing modules 51, 84, 89-FDIR 5 2-Error compensation module 5 3-Attitude matrix calculation module 54-Coordinate transformation module 56-Reference guide Parameter calculation module 55-Earth and carrier angular rate calculation module 80-Data fusion module 81-Central processing filter module 82, 87-Subtractor 85-Local filter module 83, 88-Predicted pseudorange and pseudorange rate calculation Module 56- Main filter module 90, 91- switch The present invention is a fully integrated navigation and positioning method of GPS signals and inertial sensor signals in order to provide continuous position information of the carrier; please refer to the first 11- this paper Standards apply to Chinese National Standard (CNS) Α4 regulations (210X297 mm) 83. 3.10,000 ^. 4 4 -4 1 2 9 A7 V. Description of the invention (10) I-$ As shown in the sixth figure, the full fusion navigation positioning method of the present invention includes the following 1 'feed The GPS signal from the GPS antenna 5 is converted and pre-processed, in order to obtain GPS measurement data, including pseudorange, and the pseudorange rate, and 5 is sent to the data fusion module 8; receives the inertial measurement component 10 The angular velocity and acceleration signal evidence of the carrier 'solve the inertial navigation equation to obtain reference navigation data, such as position, velocity, and attitude, etc., and send it to the data fusion module. 3. Fusion of the GPS measurement data and With reference to the inertial navigation parameters, the best positioning information is obtained at 10. In order to improve the system performance, in the first step, the tracking processing of the GPS signal uses an open-loop method, and the complete GPS signal tracking loop is in the data fusion module. Closed in 80 'in order to increase the tolerance to interference and high dynamics of the carrier. In order to improve the performance of the system, in the second step, the best estimate of the reference navigation data error from the data fusion 15 module 80 is used to compensate for the error in the reference navigation data. As shown in the second figure, the first step further includes the following steps: Printed by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs (1-1) The L-band GPS RJF (Radio Frequency) signal 'received by GPS antenna 5' is transmitted to a The RF / IF (Intermediate Frequency) converters 21 and 20 input your signals and the signals from the local numerically controlled oscillator 24 to mix them. The mixed signals are converted into intermediate frequency (IF) signals by low-pass filtering, and It is output to an IF / baseband converter 22. GPS satellites transmit GPS Coarse Acquisition (C / A) code and Precision Code (P code) signals in the L1 band, which are -12- 83. 3.10,000 II mu " i i '},) Packing — — --- H ^ • '' (Please read the precautions on the back before filling this page) This paper's standard is applicable to China National Standards (CNS) A4 (21Magic 97). 444129 A7 B7 V. (11) The L1 band signal transmitted by the i-th GPS satellite is-(0 = ο〇5 (ω, (+ φ) + -j2P ^ P (t) iD (t) i ύη (ωχ (+ φ) Among them: ω,: L1 carrier angular frequency. 0: Small phase noise and oscillator drift part. Pc: Power of C / A code signal. Ρρ: Power of P code signal. 10 CA (t): C / A Code; P (t): P code; D (t) · · navigation data; GPS satellites also transmit RF and P code signals in the L2 band ·, the L2 signal transmitted by the 15th GPS satellite can be expressed as: ί) = Nai, .cos (iiV + A), (Please read the precautions on the back before filling out this page) Binding and printing Printed by the Central Consumers Bureau of the Ministry of Economic Affairs Consumer Cooperatives 20 where:: is the L2 carrier angular frequency; Power of Pj L2-P code signal; 01: small phase noise and Drift part of the oscillator; PG code; D (t): navigation data. -13- This paper size applies to the Chinese National Standard {CNS) M specification (210X297 mm) 83.3. 10,000 444 1 2 A.7 B7 V. Description of the invention (12) The GPS signals that are transmitted at the speed of light and received by the GPS antenna 5 can be expressed as: 5 L1: S · 1 (0 = (1-η) Di (〇cos [(^! + ωίά) t + φ)} + ^ lFpPt (t) D-Xt) sm ^^ + ωιά) ί + φ) '\ 10 L2 = t (') = (/-Γ) D: (t) cos [ (w2 + ωιά) t +)], (Please read the notes on the back of the results before filling out this page) Printed by the Consumer Cooperatives of the Bureau of Conflict and Standards of the Ministry of Economic Affairs 15 where r: is a code delay. 〇 (^; is the Doppler angle frequency. I: indicates that the GPS signal received by the i-th GPS satellite GPS antenna 5 is fed into the GPS signal pre-processing module 20 RMF converter 21 of block 20. (I-2) comes from The GPSEF signal of the RF / IF converter 21 is received by the forward / baseband converter 22, the IF signal is mixed with the signal from the numerically controlled oscillator 24, and then the mixed signal is amplified, low-pass filtered, And converted to baseband signals; low-pass (LP) filters for filtering C / A code channels. -14- This paper size applies to China National Standard (CNS) A4 specifications (210X297 mm) 81 3. 10,000 444129 A7 B7 V. Description of the invention (13) The bandwidth is 1.023MHz, and the bandwidth of the low-pass furnace wave wave filter for the p-code channel is 10,23MHz; the baseband signal is sent to the A / D converter 23. (1-3) The baseband signal from the Π7 baseband converter 22 is an analog signal, which is received by the A / D converter 23. The analog baseband signal is sampled and formed into a digital 5-bit signal. (: The frequency of the / eight-code signal is 2.1518MHz, and the frequency of the p-code signal is 21.518MHz.); The output digital signal is fed into the digital The signal processing module 25; _ The digital LI C / A digital signal of the i-th satellite output by the converter 23 can be expressed as: ίο =) = 4C4 [(1 + c > 7⑽team cut id ton) Printed by the Bureau ’s consumer cooperation. Among them: A: Signal amplitude》 CA [·]: The code rate is R_, τ = $ Τρ compared with GPS time (Tρ τε chip width), the delay is ml PRN signal, its code The rate is equal to (1 + e) R0, where t = fd / fL, and FL is the RJF frequency, and R () is the code rate without Doppler shift; Ts: is the sampling period. 2; riVrs is the digital angular frequency of the baseband frequency fb "ω &: 2 ττ fdTs is the digital angular frequency of the Doppler shift%" 0: is the initial carrier phase when n = o. N⑻: is the baseband frequency Equivalent Gaussian noise. (1-4) Please refer to the second and third figures, from the A / D converter 23 -15- This paper standard is applicable to the Chinese national sample (CNS > 4 Grid (21〇 乂 2 blade mm) 83- 3.! 0, 〇〇〇 ---------) ¾ .------ 1T ------ ύ ·. (Please fill in this page with the precautions on the back) 444129 V. Description of the invention (14 )
10 15 經濟部中央操準局員工消费合作社印製 的數位基帶信號和來自該數據融合模塊8〇的預 和载波多《齡，均_財信號處讎肋接收1延= f算出偽距和偽距_量j從每個追蹤衛星輪= 據融合模塊80之偽距及偽距率的追蹤誤差。 由數控震盪器24產生的本地參考信號被輸入到即 換器=、Π7基帶轉換器22、以及數字信號處理模塊^。 請參閱第三醜示，來自A/D轉換器23的數位信號與 來自Sme-Cosine信號產生器的本地同相(In_phase ,交 (Quadraphase , Q)信號在混頻器26中進行混頻，混頻之後 的本地同相(I)和正交(Q)信號被送入相關器27。 來自混頻器26之經過混頻的同相和正交信號及來自碼 產生器30的本地碼，被該相關器2?接收並進行相關處理: 而相關處理的結果被送入最大似然估計模塊 Likelihood Estimator)28。 來自該相關器27的N個樣本相關計算結果，被最大似 然估5十彳吴塊28進行探集，假定在一小段的時間内，碼延時 和載波多普勒頻移是常值，最大似然估計模塊烈可做出碼 延時和載波多普勒頻移的追蹤誤差的最大似然估計，並將 之轉換為偽距和偽距率的追蹤誤差，並將之輸出給數據融 合模塊80。 來自該數據融合模塊80之預測多普勒頻移被饋入該瑪 震燙器31中，用以計算碼速率，產生的一定碼速率 PRN(Pseudo-random Noise)碼被馈入該碼產生器3〇 » 來自該碼震盪器31的一定碼速率之PRN碼，和來自該 ^-- (請先聞請背面之注意事項再填寫本I) 訂- -16- 本紙張尺度適用中國國家標準（CNS > A4規格（210X297公釐） 83.3.10,000 經濟部中央標準局員工消費合作社印製 A7 ^ ^-------B7 五、發明説明（15,) 數據融合模塊80的預測碼延時被饋入該碼產生器3〇，並用 來產生本地准時碼以及計算偽距、偽距率測量；產生的本 地准時碼被送入該相關器27，並用解調衛星星曆數據，解 調出的衛星星曆被送入數據融合模塊80 ,且得出的偽距和 5偽距率測量被送入數據融合模塊80。 來自該數據融合模塊80的預测载波多普勒頻移被馈入 S^ie-Cosine信號產生器29中，用以產生本地的同相和正交 Ϊ5號以及计算偽距率测量，產生的同相和正交信號被送入 該混頻器26，得出的偽距率測量被送入數據融合模塊8〇。 10 請參閲第四圖所示，第二步驟有兩種操作模式： ⑴反饋補償(Feedback Compensation); (2)刖饋補償(Feedforward Compensation)。 運載體之角速率和加速度信息，可由下列兩種慣性潮 量組件提供： 15 丨)包含三個正交安裝的陀螺儀和三個正交安裝的加速 度計的慣性測量組件，以輸出三_軸角速率和加速度數據 〇 2)包含三個以上斜置安裝的陀螺儀和三個以上斜置安 裝的加速度計，輸出餘度的角速率和加速度數據。 20. 因而，第二步驟進步包含： 2(A)慣性測量組件預處理模塊5〇是採用反饋補償方式 ，該慣性测量組件，包含三個正交安裝的陀螺儀和三個正 交安裝的加速度計，該慣性測量組件預處理摸塊5〇其輸出 的三軸角速率和加速度數據，以及來自該數據融合模塊8〇 -17- 本紙張尺度通用中國國家標準（CNS ) A4規格（2i〇X297公釐） 83. 3. !〇,〇〇〇 (請先聞讀背面之注意事項再填寫本頁) -装· 訂 經濟部中央標準局男工消費合作社印箪 444129 —^__二 . X - · - 五、發明説明（16 ) 的慣性感應器誤差的最佳估計，被输入該慣性測量組件預 處理糢塊50的信號預處理部份之誤差補償模塊52。 用慣性感應器誤差的最佳估計來補償三軸角速率和加 速度中的誤差，經誤差補償之三軸角速率被输出給姿態矩 5陣計算模塊53，經誤差補償之後的加速度被输出給座標變 换模塊54。 ' 來自該誤差補償模塊52的運载體角速率數據、來自地 球和载體角速率計算模塊55的從當地導航座榡系(11系)到慣 性座標系(i系)的旋轉向量、以及來自數據融合模塊8〇的參 W考導航結果誤差的取佳估計，被输入姿態矩陣計算模塊53 内1用來更新從機體座標系(b系)到導航座標系扣系）的姿態 矩陣，同時去除姿態矩陣的誤差；得出的姿態矩陣被輸出~ 給該座標變換模塊54和參考導航參數計算模塊56。 更新姿態矩陣的方法為尤拉(Euler)法，方向餘弦' 15 (Pkect丨〇nCosine)法，四元數(qUatemfon)& s 來自誤差補償模塊52的補償加速度數據是表達在機體 座才示系內的，匕和來自該姿態矩陣計算模塊53之姿態矩陣 均被該座標變換模塊54接收，並將表達在機體座標系内的 加速度轉換為表達在導航座標系內的加速度，且輸出給參 20 考導航參數計算模塊56 〇 ~ # 來自該座標變換摸塊54之表達在導航座標系内的加速 度、來自該姿態矩陣計算模塊53之姿態矩陣，以及來自該 數據融合模塊80之參考導航誤差的最佳估計，均被該參考 導航參數計算模塊56接收，用來計算參考的位置、速度、 -18- 本紙張尺度逍用中國國家襟準（0犯）.八4規格（21〇><297公楚） --------:)壤------tr------,J (请先閲讀背面之注意事項再填寫本頁) 83.3. 10,000 9 、發明説明（17) A7 B7 10 15 20 經濟部中夬檫準局員工消費合作社印製 態數據，並移除位置、速度數據結果的誤差；得出的參 導，結果’如位置、速度、姿態再輸出給地球和載體角 速率計算模塊S5和該數據融合模塊80 β ,,來自該參考導航參數計算模塊56之參考導航參數，被 =地球和載體角速率計算模塊55接收，並用來計算當地導 ‘座標系到慣健標系的旋轉角速率，且將之输出至該姿 態矩陣計算模塊53。 、2㊉)該慣性测量組件預處理模塊(50)探用前馈補價方 =I該慣性潮量組件包含三個正交安裝的陀螺儀和三個正 又安裝的加速度計，其輸出的三軸角速率和加速度數據被 饋入該慣性測量組件預處理模塊50内；三軸角速率數據被 饋入該姿態矩陣計算模塊53 ,而三軸加速度則被饋入該座 標變換模塊54。 來自該惯性測量組件10之運載體角速率數據、來自該 1球和載體角速率計算模塊％之從當地導航座標系②系)到 f貝性座榡系(i系)的旋轉向量，被输入該姿態矩陣計算模塊 53，並用來更新機體座標系⑴系)到導航座標系(11系)的姿態 矩陣；得出的姿態矩障被输出給該座標變換模塊54和參考 導航參數計算模塊56。 更新姿態矩陣的方法有尤拉法、方向餘弦法、四元數 法》 ㈤來自該惯性测量組件10的加速度數據是表達在機體座 標系內的，它和來自該姿態矩陣計算模塊53的姿態矩陣被 該座標變換糢塊54接收，並將表達在機體座標系內的加速 -19- ί-—--J tut tl I- - 1 n^l ^mfe /L (资先閲请背面之注意事項朞填窝本頁) 訂 83‘3- ΐ"ί〇ο〇 444129 A7 B7 五 座標系内的加速度.細給參考導 來f該座標難難54之表達在該鋪系内的加 10 if i及來自該姿態矩陣計算模塊53的姿態矩被該參 速 出給該地球和载體角速率計算模;：該=融: 來自鮮轉航錄計算魏财鳄_參數 孩地球和《H速率計算魏55純，並縣計算當地 ，座標系·健《的旋轉角神，讀之输出至該姿 讀計算模塊56純，並縣計算參_位置 又姿態數據；得出的參考導航參數，如位置、速度、 導 15 經濟部中央標準局員Η消费合作衽印製 20 態矩陣計算模塊53 a、2(c)該惯性测量組件預處理模塊5〇探用反饋補償方式 、;該慣性測量組件包含三個以上斜置安裝的陀螺儀和三個 以上斜置安裝的加速度計，其輸出的餘度角速率和加速度 數據以及來自該數據融合模塊80的慣性感應器誤差之最佳 估計被饋入該慣性測量組件預處理模塊犯之^：)!^ 5丨內， 用來執行輸入之餘度角速率和加速度數據的故障檢測、隔 離、及恢復，以獲得可信賴的三軸角速率和加速度數據； 該得到之三軸角速率和加速度數據則被输入至該誤差補償 模機S2内《 從該FDIR 51得到之三軸角速率及加速度敷據，以及 .來自該數據融合模塊80之慣性感應器誤差的最佳估計，均 被輪入該誤差補償模塊54內；並用慣性感應器誤差的最佳 - 20- 本紙)A4規格（210X297公釐） 83.3. !0,〇〇〇 Q.裝------ΤΓ------,J (請先聞讀背面之注意事項再填寫本頁) 444129 經濟部中夬標準局員工消費合作社印製 A7 B7 五、發明説明（19) 估計來補償三軸_率和加速度中的誤差；漏償三軸角 速率被输人觀態贿計龍塊洲，雌三轴加速 度則被输入至該座標變換模塊54内β 來自該誤差補償模塊52的運載體角速率數據、來自該 5地球和載體角速率計算模塊55之從當地導航座標系(11系)到 ^ ϋ座標系(i系)的旋轉向量’以及來自該數據融合模塊80 之參考導航參數誤差的最佳估計，均被输入該姿態矩陣計 算模塊53，用來更新從機體座標系(b系)到導航座標系的姿 態矩陣’同時去除該姿態矩陣的誤差；得出的姿態矩陣被 10輸出給該座標變換模塊54和參考導航參數計算模塊56。 更新該姿態矩陣的方法有尤拉法、方向餘弦法、或四 元數法。 來自該誤差補償模塊52的補償加速度數據是表達在機 體座標系內的，它和來自該姿態矩陣計算模塊53的姿態矩 15陣被該座標變換糢塊54接收，並將表達在機體座標系内的 加速度轉換為表達在導航座標系內的加速度，且輸出給該 參考導航參數計算模塊56 » 來自該座標變换模塊54的表達在導航座標系内的加速 度、來自該姿態矩陣計算模塊53的姿態矩陣、以及來自該 2〇數據融合模塊80的參考導航參數誤差的最佳估計，被該參 考導航參數計算模塊56接收，用來計算參考的位置、速度 、姿態數據，並去除位置及速度數據的誤差；得出的參考 導航參數如位置、速度、姿態，再輸出給該數據融合模塊 80和該地球和載體角速率計算模塊55。 -21- ---------裝------訂------ (请先閲读背面之注意事項再填寫本頁) 本紙張 (2i0x297公幻 83. 3. 10,000 五、 發明説明（2〇) A7 B7 經濟部中央標準局負工消費合作社印製 來自該參考導航參數計算模塊56的參考導航參數，被 該地球和載體角速率計算模塊55接收，並用來計算由當地 導航座標系(rx系)到慣性座標系(i系)的旋轉角速率，並將之 輸出至該姿態矩陣計算模塊53。 5 2(d)該慣性測量組件預處理模塊5〇採用前饋補償方式 ’該慣性测量組件包含至少三個以斜置安裝的陀螺儀和三 個以上斜置安裝的加速度計，其輸出的餘度的角速率和加 速度數據被饋入該慣性測量組件預處理模塊兄之阳汉51 ，並用來執行感應器故障檢測、隔離、重構，輸出可靠三 10軸角速率和加速度數據；三軸角速率數據被饋入該姿態矩 陣計算模塊S3，三軸加速度被饋入該座標變換模塊54 ^ 來自FDIR的输入運载體角建率數據，及來自該地球和 載體角速率計算模塊55的從當地導航座標系(11系)到慣性座 標系(i系）的旋轉向量，被該姿態矩陣計算模塊53接收，用 15來更新機體座標系(b系)到導航座標系(n系）的姿態矩陣；得 出的姿態矩陣被输出給該座標變換模塊54和該參考導航參 數計算模塊56。 更新姿態矩陣的方法有尤拉法、方向餘弦法、及四元 數法。 20 來自fDIR 51的輸入加速度數據，是表達在機體座標 系內的，它和來自該姿態矩陣計算模塊53的姿態矩陣，均 被該座標變換模塊54接收，並將表達在機體座標系內的加 速度轉換為表達在導航座標系內的加速度，並輸出給該參 考導航參數計算模塊56。 -22- 本紙張尺度適用中國國家標準（CNS ) A4規格（2!0X297公釐） 83, 3. 10,000 --------Λ)1^------IT------J (請先閲讀背面之注意事項再填寫本頁}10 15 The digital baseband signal printed by the Consumer Cooperatives of the Central Operation Bureau of the Ministry of Economic Affairs and the pre-carrier carrier from the data fusion module 80. The age, average, and financial signal receive a delay of 1 = f to calculate the pseudorange and pseudo The distance_quantity j from each tracking satellite wheel = the tracking error of the pseudo-range and pseudo-range rate according to the fusion module 80. The local reference signal generated by the numerically controlled oscillator 24 is input to the converter =, the baseband converter 22, and the digital signal processing module ^. Please refer to the third scandal. The digital signal from the A / D converter 23 and the local in-phase (Quadraphase, Q) signal from the Sme-Cosine signal generator are mixed and mixed in the mixer 26. The subsequent local in-phase (I) and quadrature (Q) signals are sent to the correlator 27. The mixed in-phase and quadrature signals from the mixer 26 and the local code from the code generator 30 are received by the correlator. 2? Receive and perform related processing: The result of the related processing is sent to the maximum likelihood estimation module Likelihood Estimator) 28. The correlation results of the N samples from this correlator 27 are estimated by the maximum likelihood estimate 50. Block 28 is used for exploration. It is assumed that the code delay and carrier Doppler shift are constant values within a short period of time. The likelihood estimation module can make a maximum likelihood estimation of the tracking error of the code delay and the carrier Doppler frequency shift, and convert it into the tracking error of the pseudorange and pseudorange rate, and output it to the data fusion module 80 . The predicted Doppler frequency shift from the data fusion module 80 is fed into the Ma Zhen iron 31 to calculate the code rate, and a certain code rate PRN (Pseudo-random Noise) code generated is fed into the code generator 3〇 »A PRN code of a certain code rate from the code oscillator 31, and from this ^-(Please read the notes on the back before filling in this I) Order--16- This paper size applies to Chinese national standards ( CNS > A4 specification (210X297 mm) 83.3.10,000 A7 printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs ^ ^ ------- B7 V. Description of the invention (15,) Prediction code delay of the data fusion module 80 It is fed into the code generator 30 and used to generate local punctual codes and calculate pseudorange and pseudorange rate measurements; the generated local punctual codes are sent to the correlator 27, and the demodulated satellite ephemeris data is used to solve the problem. The retrieved satellite ephemeris is sent to the data fusion module 80, and the resulting pseudorange and 5-pseudorange rate measurements are sent to the data fusion module 80. The predicted carrier Doppler frequency shift from the data fusion module 80 is Feed into the S ^ ie-Cosine signal generator 29 to generate local in-phase and quadrature Ϊ No. 5 and the calculation of the pseudo-range rate measurement, the in-phase and quadrature signals generated are sent to the mixer 26, and the resulting pseudo-range rate measurement is sent to the data fusion module 80. 10 Please refer to the fourth figure The second step has two modes of operation: ⑴Feedback Compensation; (2) Feedforward Compensation. The angular velocity and acceleration information of the carrier can be provided by the following two types of inertial tide components: 15 丨) Inertial measurement assembly containing three orthogonally mounted gyroscopes and three orthogonally mounted accelerometers to output three-axis angular rate and acceleration data. 2) Including three or more obliquely mounted gyroscopes and three The accelerometer installed obliquely above outputs the angular rate and acceleration data of the margin. 20. Therefore, the second step progress includes: 2 (A) Inertial measurement component pre-processing module 50 is a feedback compensation method. The inertial measurement component includes three orthogonally mounted gyroscopes and three orthogonally mounted accelerations. Meter, the inertial measurement module pre-processes the three-axis angular rate and acceleration data of the output block 50, and the data fusion module 80--17- This paper standard is generally Chinese National Standard (CNS) A4 specification (2i〇297 (Mm) 83. 3.! 〇, 〇〇〇 (please read the notes on the back before filling out this page)-Binding and ordering the male labor consumer cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs, seal 444129 — ^ __ 二. X -·-5. The best estimate of the inertial sensor error of the invention description (16) is input to the error compensation module 52 of the signal preprocessing part of the preprocessing module 50 of the inertial measurement module. The best estimation of the inertial sensor error is used to compensate the errors in the three-axis angular rate and acceleration. The three-axis angular rate after error compensation is output to the attitude moment 5-array calculation module 53, and the acceleration after error compensation is output to the coordinates. Transformation module 54. '' Carrier angular rate data from the error compensation module 52, rotation vectors from the local navigation coordinate system (11 series) to the inertial coordinate system (i system) from Earth and carrier angular rate calculation module 55, and from The best estimate of the reference navigation error of the data fusion module 80 is input into the attitude matrix calculation module 53 to update the attitude matrix from the body coordinate system (b system) to the navigation coordinate system buckle system, while removing Error of the attitude matrix; the obtained attitude matrix is output to the coordinate transformation module 54 and the reference navigation parameter calculation module 56. The method of updating the attitude matrix is Euler's method, the direction cosine '15 (Pkect 丨 OnCosine) method, quaternion (qUatemfon) & s The compensation acceleration data from the error compensation module 52 is shown in the body base. In the system, both the dagger and the attitude matrix from the attitude matrix calculation module 53 are received by the coordinate transformation module 54 and the acceleration expressed in the body coordinate system is converted into the acceleration expressed in the navigation coordinate system, and output to the parameter 20 Test navigation parameter calculation module 56 〇 ~ # The acceleration in the navigation coordinate system expressed by the coordinate transformation module 54, the attitude matrix from the attitude matrix calculation module 53, and the reference navigation error from the data fusion module 80. The best estimates are received by the reference navigation parameter calculation module 56 and are used to calculate the reference position, speed, and standard of the paper. The national standard of China (0 offenses). 8 4 specifications (21〇 > < 297 Gongchu) -------- :) Soil ------ tr ------, J (Please read the notes on the back before filling this page) 83.3. 10,000 9 、 Invention Explanation (17) A7 B7 10 15 20 Ministry of Economic Affairs Bureau employee consumer cooperatives print state data, and remove errors in position and speed data results; the resulting guidance, such as position, speed, and attitude, is then output to the Earth and carrier angular rate calculation module S5 and the data fusion module 80 β, the reference navigation parameter from the reference navigation parameter calculation module 56 is received by the = earth and carrier angular rate calculation module 55 and is used to calculate the rotation angular rate of the local guide 'coordinate system to the inertial standard system, and Output to this attitude matrix calculation module 53. , 2㊉) The preprocessing module (50) of the inertial measurement component explores the feed-forward premium square = I. The inertial tide component contains three orthogonally mounted gyroscopes and three positively mounted accelerometers. The axial angular rate and acceleration data are fed into the inertial measurement component pre-processing module 50; the triaxial angular rate data is fed into the attitude matrix calculation module 53, and the triaxial acceleration is fed into the coordinate transformation module 54. The carrier angular rate data from the inertial measurement module 10, and the rotation vector from the local ball coordinate system (② system) to the f-shell coordinate system (i system) from the 1 ball and the carrier angular rate calculation module% are input. The attitude matrix calculation module 53 is used to update the attitude matrix of the body coordinate system (the coordinate system) to the navigation coordinate system (the 11 system); the obtained attitude moment barrier is output to the coordinate transformation module 54 and the reference navigation parameter calculation module 56. Methods for updating the attitude matrix include the Euler method, the direction cosine method, and the quaternion method. ㈤The acceleration data from the inertial measurement component 10 is expressed in the body coordinate system, and it is combined with the attitude matrix from the attitude matrix calculation module 53. Received by the coordinate transformation module 54 and will express the acceleration in the body's coordinate system -19- ί --- J tut tl I--1 n ^ l ^ mfe / L (Filling page on this page) Order 83'3-ΐ " ί〇ο〇444129 A7 B7 acceleration in the five-coordinate system. Give the reference guide f the coordinates of the difficult 54 expression in the shop system plus 10 if i And the attitude moment from the attitude matrix calculation module 53 is given to the earth and the carrier angular rate calculation module by the reference speed ;: the = fused: from the fresh transfer record calculation Wei Caiying_Parameter Earth and "H rate calculation Wei 55 is pure, and the county calculates the rotation angle of the local coordinate system Jian. The reading is output to the posture reading calculation module 56, and the county calculates the reference position and attitude data. The derived reference navigation parameters, such as position , Speed, guidance 15 members of the Central Standards Bureau of the Ministry of Economic Affairs, consumer cooperation, printing 20 moments Array calculation module 53 a, 2 (c) the inertial measurement component pre-processing module 50 for the feedback compensation method; the inertial measurement component includes three or more obliquely mounted gyroscopes and three or more obliquely mounted accelerometers , The output angular velocity and acceleration data and the best estimate of the inertial sensor error from the data fusion module 80 are fed into the inertial measurement component preprocessing module ^:)! ^ 5 丨, used to Perform fault detection, isolation, and recovery of the input angular velocity and acceleration data to obtain reliable triaxial angular rate and acceleration data; the obtained triaxial angular velocity and acceleration data are input to the error compensation mode In the machine S2, the three-axis angular rate and acceleration data obtained from the FDIR 51, and the best estimate of the inertial sensor error from the data fusion module 80 are turned into the error compensation module 54; and the inertia is used The best sensor error-20- this paper) A4 size (210X297 mm) 83.3.! 0, 〇〇〇Q. Installed ------ ΤΓ ------, J (please read the back first (Notes on this page, please fill out this page) Printed by A7 B7, Consumer Cooperatives of Ministry of Standards and Standards of the People's Republic of China. 5. Description of the invention (19) Estimate to compensate for errors in triaxial _ rate and acceleration; The three-axis acceleration is input into the coordinate transformation module 54. The carrier angular rate data from the error compensation module 52, and the local earth coordinate system (11 series) from the 5 Earth and carrier angular rate calculation module 55. The rotation vector 'of the ϋ coordinate system (i system) and the best estimate of the reference navigation parameter error from the data fusion module 80 are input to the attitude matrix calculation module 53 to update the body coordinate system (b system) to The attitude matrix 'of the navigation coordinate system removes the error of the attitude matrix at the same time; the obtained attitude matrix is output to the coordinate transformation module 54 and the reference navigation parameter calculation module 56 by 10. Methods for updating the attitude matrix include the Euler method, the direction cosine method, or the quaternion method. The compensated acceleration data from the error compensation module 52 is expressed in the body coordinate system, and it is received by the coordinate transformation module 54 with the attitude moment 15 matrix from the attitude matrix calculation module 53 and expressed in the body coordinate system. Acceleration is converted into the acceleration expressed in the navigation coordinate system and output to the reference navigation parameter calculation module 56 »The acceleration expressed in the navigation coordinate system from the coordinate transformation module 54 and the attitude from the attitude matrix calculation module 53 The matrix and the best estimate of the reference navigation parameter error from the 20 data fusion module 80 are received by the reference navigation parameter calculation module 56 to calculate the reference position, speed, and attitude data, and remove the position and speed data. Error; the obtained reference navigation parameters such as position, speed, and attitude are output to the data fusion module 80 and the earth and carrier angular rate calculation module 55. -21- --------- Install ------ Order ------ (Please read the precautions on the back before filling this page) This paper (2i0x297 Ghost 83. 3. 10,000 V. Description of the invention (20) A7 B7 The reference navigation parameter from the reference navigation parameter calculation module 56 is printed by the Central Standards Bureau of the Ministry of Economic Affairs and Consumer Cooperatives, which is received by the earth and carrier angular rate calculation module 55 and used to calculate The rotation angular rate from the local navigation coordinate system (rx system) to the inertial coordinate system (i system) is output to the attitude matrix calculation module 53. 5 2 (d) The inertial measurement component pre-processing module 50 Feed-back compensation method: The inertial measurement component includes at least three gyroscopes installed obliquely and more than three accelerometers installed obliquely. The angular rate and acceleration data of the excess degrees output by the inertial measurement components are fed into the inertial measurement component for preprocessing. The module Yangyang 51 is used to perform sensor fault detection, isolation, reconstruction, and output reliable three 10-axis angular rate and acceleration data; the three-axis angular rate data is fed into the attitude matrix calculation module S3, and the three-axis acceleration is Feed in the coordinate transformation module 54 ^ from FDI The input carrier angular rate data of R and the rotation vector from the earth and carrier angular rate calculation module 55 from the local navigation coordinate system (11 series) to the inertial coordinate system (i system) are used by the attitude matrix calculation module. 53 receives, and updates the attitude matrix of the body coordinate system (b system) to the navigation coordinate system (n system) by 15; the obtained attitude matrix is output to the coordinate transformation module 54 and the reference navigation parameter calculation module 56. Update attitude The methods of the matrix include the Euler method, the direction cosine method, and the quaternion method. 20 The input acceleration data from fDIR 51 is expressed in the body coordinate system, which is the same as the attitude matrix from the attitude matrix calculation module 53. Received by the coordinate conversion module 54, and converts the acceleration expressed in the body coordinate system into the acceleration expressed in the navigation coordinate system, and outputs it to the reference navigation parameter calculation module 56. -22- This paper standard applies to Chinese national standards (CNS) A4 specification (2! 0X297 mm) 83, 3. 10,000 -------- Λ) 1 ^ ------ IT ------ J (Please read the note on the back first Matters refill this page}
、發明説明（21 A7 B7 經濟部中央標準局員工消费合作社印製 來自該座標變换模塊54之表達在導航座標系內的加速 ，，及來自該姿態矩陣計算模塊53的更|^姿態矩陣，均被 該參考導航參數計算模塊56接收，並用來計算參考的位置 '速度、姿態數據，得出的參考導航參數如位置、速度、 5姿態等馳峰誠球和紐角料計算模妨和該數據 融合模塊80 » 來自該參考導航參數計算模塊S6的參考導航參數，被 該地球和·_率計算魏55接收，計算當地導航 座榡系(η系)到慣性座標系(i系)旋轉角速率，並將之输出给 1〇該姿態矩陣計算模塊53。 ^ 如第五圖和第六圖所示，第三步驟可用下列兩個方案 來實現。 3 (Α)集中式卡爾曼遽波器(centraiizecj Kalman Filter)方 案； 15 3⑼分散式卡爾曼濾波器(Decentralized Kalman Filter) 方案’如聯合卡爾曼濾波（Federated Kalman Filter)。 請續參閲第五圖及第六圖所示，第3(a)步驟進一步包含： 3(a)-l如第五圖所示，如果該慣性測量組件預處理模 塊50以反饋補償方式實現，則該開關9〇會與該慣性測量組 20件預處理模塊50閉合；從該慣性測量組件預處理模塊50之 參考導航參數，已被來自集中處理濾波器模塊81的參考導 航參數之誤差反饋最佳估計進行誤差補償，並被減法器82 接收，然後被饋入預測的偽距和偽距率計算模塊83，並作 為整個系統全融合的定位數據输出。 -23- 本紙張尺度適用中國國家標李（CNS ) A4規格（210X297公釐） 83.3.10,000 ---------^>裝------ir (請先閲读背西之注意事項异填窝本莢) 444129 五 、發明説明（22) A7 B7 10 15 20 經濟部中央標準局員工消費合作社印裝 式慣2量組件預處理模塊5⑽誤差前饋補償方 式Fi見’則涵開關9〇與該減法器82閉合 鱗預處理模塊50_考導航參數和來自該 器k塊關參考導航錄誤差婦佳估計，均被該減^器 82接收，並醜自該射處麵波難伽之參考導航參 數誤差的最佳估計來補償參考導航參數的誤差；被補償^ 之參考導航參數被ir出給預刺的偽距和偽距率計算模塊別 ，並作為整個系統的全融合的定位數據输出。 來自每一個GPS衛星的追蹤頻道之該數字信號處理模 塊25的衛星星曆、來自減法器82的參考導航數據、以及來 自GPS的接收器時鐘偏置和時鐘偏置率的最佳估計，均被 饋入該預測的偽距和偽距率計算模塊83。 每個追縱衛星頻道之預測的偽距和偽距率可用下列參 數計算得出：GPS衛星的位置和速度 '慣性測量組件的位 置和速度、卡爾曼(Kalman)估計的接收器時鐘偏置和偏置 率，確定性的GPS衛星時鐘校正，及計算信號的大氣延遲 0 每個被追縱的衛星頻道之預測的偽距和偽距率，均被 输給該集中處理濾波器模塊81，並被轉換為GPS信號的預 測碼延遲和載波多普勒頻移’及輸出給每個追縱衛星頻道 的該數字信號處理模塊25，用以閉合每個GPS接數器之信 號追蹤迴路。 3(a)-2參考導航參數誤差包括：三個位置誤差、三個 速度誤差、三個姿態誤差、以及慣性感應器誤差如加速度 -24- 本紙張尺度適用中國國家標準（CMS ) A4規格（21〇X297公酱） 83. 3.10,000 --------,1家------訂-----；線 (請先閱讀背面之注意事項再填寫本頁) 444129 A7 ______B7 五、發明説明（23) 計誤差、陀螺儀誤差、及接收器時鐘誤差； 並在集中處理顏器巾離，其齡方程可表示為: X(t)=F(t)X (t)+G(t) W(t) 來自全部追縱衛星頻道之該數字信號處理模塊25 量之偽距和偽距率的追蹤誤差、來自全部追縱衛星頻道之 預測的偽距和偽距率計算模塊，和來自該預漏偽距 距率計算模塊83之衛星星曆、及參考的慣性導航參數，， 1〇起被該集中處理滴波器模_接收，並用來敎行下列處理 步驟：Description of the invention (21 A7 B7 The acceleration of the expressions from the coordinate transformation module 54 in the navigation coordinate system printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs, and the updated attitude matrix from the attitude matrix calculation module 53, All are received by the reference navigation parameter calculation module 56 and used to calculate the reference position's velocity and attitude data, and the derived reference navigation parameters such as position, speed, and 5 attitude are calculated from the peak-to-peak ball and button scrap calculation model and the Data fusion module 80 »The reference navigation parameters from the reference navigation parameter calculation module S6 are received by the earth and the _rate calculation Wei 55 to calculate the rotation angle of the local navigation coordinate system (η system) to the inertial coordinate system (i system) And output it to the attitude matrix calculation module 53. ^ As shown in the fifth and sixth figures, the third step can be implemented by the following two schemes. 3 (A) Centralized Kalman Wavelet (centraiizecj Kalman Filter) scheme; 15 3⑼Decentralized Kalman Filter scheme 'such as Federated Kalman Filter. Please refer to the fifth figure and As shown in the sixth figure, step 3 (a) further includes: 3 (a) -l As shown in the fifth figure, if the preprocessing module 50 of the inertial measurement component is implemented in a feedback compensation manner, the switch 90 will communicate with the The 20 pre-processing modules 50 of the inertial measurement group are closed; the reference navigation parameters from the inertial measurement component pre-processing module 50 have been compensated by the best estimate of the error feedback of the reference navigation parameters from the centralized processing filter module 81, and are compensated by Received by the subtractor 82, and then fed into the predicted pseudorange and pseudorange rate calculation module 83, and output as the fully integrated positioning data of the entire system. -23- This paper size applies to China National Standard Li (CNS) A4 specification (210X297 Mm) 83.3.10,000 --------- ^ > Packing ------ ir (please read the precautions of the West first to fill the nest pods) 444129 V. Description of the invention (22) A7 B7 10 15 20 Printed inertia 2 component pre-processing module for employees 'cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs 5⑽ Error feedforward compensation method Fi See' Zehan switch 90 and the subtractor 82 closed scale pre-processing module 50_ 考Navigation parameter and reference navigation record error from the block k of this device The best estimate is received by the subtractor 82, and the best estimate of the reference navigation parameter error of the surface wave Nakama is used to compensate the reference navigation parameter error; the compensated reference navigation parameter is given by ir The pre-punctured pseudo-range and pseudo-range rate calculation module types are output as fully integrated positioning data of the entire system. The satellite ephemeris of the digital signal processing module 25 from the tracking channel of each GPS satellite, the satellite ephemeris from the subtractor 82 The reference navigation data and the best estimate of the receiver clock offset and clock offset rate from the GPS are fed into the predicted pseudorange and pseudorange rate calculation module 83. The predicted pseudorange and pseudorange rate for each tracking satellite channel can be calculated using the following parameters: the position and velocity of the GPS satellite, the position and velocity of the inertial measurement component, the receiver clock offset estimated by Kalman, and Offset rate, deterministic GPS satellite clock correction, and calculated atmospheric delay of the signal. 0 The predicted pseudorange and pseudorange rate of each tracked satellite channel are input to the centralized processing filter module 81, and The predicted signal delay and carrier Doppler frequency shift that are converted into GPS signals and output to each digital signal processing module 25 tracking satellite channels are used to close the signal tracking loop of each GPS connector. 3 (a) -2 The reference navigation parameter errors include: three position errors, three speed errors, three attitude errors, and inertial sensor errors such as acceleration. -24- This paper size applies to China National Standard (CMS) A4 specifications ( 21〇X297 male sauce) 83. 3.10,000 --------, 1 -------- Order -----; line (please read the precautions on the back before filling this page) 444129 A7 ______B7 V. Description of the invention (23) Metering error, gyroscope error, and receiver clock error; and intensively processing the facial separation, the age equation can be expressed as: X (t) = F (t) X (t ) + G (t) W (t) The tracking error of the pseudorange and pseudorange rate from the digital signal processing module of all tracking satellite channels, the predicted pseudorange and pseudorange rate from all tracking satellite channels The calculation module, and the satellite ephemeris and the reference inertial navigation parameters from the pre-missing pseudorange rate calculation module 83 are received by the centralized processing dropper mode_ from 10 and used to perform the following processing steps:
------丨- (請先閲讀背命之項再填寫本頁W 15 經濟部中央標準局貞工消费合作社印製 更新系統和量測方程式的參數； 計算系統方程式的離散模型參數： 計算量测方程式的線性模型參數； e十算狀態估計及其方差陣的時間傳播； 將測里的偽距和偽距率與預測的偽距和 _和偽距率的追縱誤差來進拥價’並用 濾波器模塊81的量测。 集中處理 -25- 訂 210X297公釐） 本紙張从適财1} ) Α4ί^Γ[ 83. 3. !〇,〇〇〇 444129 A7 B7 五、發明説明（24) 計算量測殘差； 更新狀態估計及其方差陣; 10 15 20 經濟部中央標準局員工消費合作杜印製 更新後的狀態估計被输出給該減法器82和該慣性測量 組件預處理模塊50。 3(a)-3來自集中處理濾波器模塊81的量测殘差被输入 FDER(Failure Detection Isolationand Recovery)84 ,用來執行 量測殘差的統計檢驗，以便撿測隔離由KGPS衛星的故障 導致的输入偽距和偽距率的故障；如果監測出故障，故障 衛星的標誌藉由該FDIR輸&雜射處麵麵模塊81， 以便隔離故障GPS衛星或更新該集中處理濾波器模塊81。 3(b)-l請參閲第六圖所示，如果該慣性測量組件預處 理模塊5〇以反馈補償方式實現，則該開關9〇與該慣性測量 組件預處理模塊5〇閉合；從該慣性测量組件預處理模塊5〇 輸出的參考導航參數，並與被來自該主濾波器模塊86之參 考導航參數的最佳前饋估算進行誤差補償，並被該減法器 82接收^後被饋入該預)則的偽距和偽距率計算模塊， 並作為整個系統全融合的定位數據輸出^ 如果該慣性測量組件預處理模塊50以誤差前饋補償方 式實現^觸關91與减法器87閉合；來自該慣性鮮組件 ，處理模塊5〇_考魏錄和來嫌主濾模塊86之 二考導航參數誤差的最錄計，被誠法器π接收，並用 遇王遽波器模塊86之參考導肮參數誤差的最佳估計來補償 -26- . 裝------訂-----.—)y^. (請先閎讀背面之注意事項再填寫本頁) 本纸張請適用中國 们公釐） 83. 3. !〇,〇〇〇 4 44 12 g - A7 ____B7 五、發明説明（25) 參考導航參數的誤差；被補償後之導航參數被輸出給該預 測的偽距和偽距率計算模塊88，並作為整個系統的全融合 的定位數據輸出β 來自每個GPS衛星的追蹤頻道之該數字信號處理模塊 5 25的衛星星曆、來自該減法器87之參考導航參數計算模塊 56的參考導航數據、和來自該主濾波器模塊86之〇1>3接數 器時鐘偏置和時鐘偏置率的最佳估計，均被饋入該預測的 偽距和偽距率計算模塊88。 每個被追縱的衛星頻道之預測的偽距和偽距率可用下 10列參數計算得出：GPS衛星的位置和速度、慣性測量組件 的位置和速度、卡爾曼估計的接收器時鐘偏置和時鐘偏置 率、確定性的GPS衛星接收器之時鐘校正，及計算的信號 的大氣延遲。 每一個GPS衛星追蹤頻道之預测的偽距和偽距率，被------ 丨-(Please read the fateful item before filling out this page. W 15 Print and update the parameters of the system and measurement equations by the Zhengong Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs; Calculate the discrete model parameters of the system equations: Calculate the linear model parameters of the measurement equation; e-time state estimation and time spread of its variance matrix; integrate the measured pseudorange and pseudorange rate with the predicted pseudorange and the tracking error of pseudorange rate Measured by the filter module 81. Centralized processing -25- Order 210X297 mm) This paper from Shicai 1}) Α4ί ^ Γ [83. 3.! 〇, 〇〇〇〇444129 A7 B7 V. Description of the invention (24) Calculate the measurement residuals; update the state estimates and their variance matrices; 10 15 20 The consumer status cooperation printed by the Central Bureau of Standards of the Ministry of Economic Affairs and the updated state estimates are output to the subtractor 82 and the inertial measurement component preprocessing Module 50. 3 (a) -3 The measurement residual from the centralized processing filter module 81 is input to FDER (Failure Detection Isolation and Recovery) 84, which is used to perform statistical inspection of the measurement residual in order to detect and isolate caused by the failure of the KGPS satellite The fault of the input pseudorange and pseudorange rate; if a fault is detected, the flag of the faulty satellite is inputted through the FIR & stray surface module 81 in order to isolate the faulty GPS satellite or update the centralized processing filter module 81. 3 (b) -l Please refer to the sixth figure. If the inertial measurement component pre-processing module 50 is implemented in a feedback compensation manner, the switch 90 and the inertial measurement component pre-processing module 50 are closed; The reference navigation parameters output by the inertial measurement component preprocessing module 50 are subjected to error compensation with the best feedforward estimation of the reference navigation parameters from the main filter module 86, and are received by the subtractor 82 and fed in The pre-distance pseudo-range and pseudo-range rate calculation module, and output as the fully integrated positioning data of the entire system ^ If the inertial measurement component pre-processing module 50 is implemented in an error feed-forward compensation manner ^ Touch 91 and subtractor 87 are closed ; From this inertia fresh component, the processing module 50_ test Weilu and Lai Sui main filter module 86 bis test navigation parameter error of the most recorded, was received by Cheng Fa π, and used the reference of Wang Wang wave filter module 86 The best estimate of the guideline parameter error is to compensate -26-. -------- Order -----.--) y ^. (Please read the precautions on the back before filling this page) This paper Please apply to Chinese millimeters) 83. 3.! 〇, 〇〇〇4 44 12 g-A7 ____B7 5 Description of the invention (25) The error of the reference navigation parameters; the compensated navigation parameters are output to the predicted pseudorange and pseudorange rate calculation module 88, and are output as fully integrated positioning data of the entire system β from each GPS satellite Satellite ephemeris of the digital signal processing module 525 of the tracking channel, reference navigation data from the reference navigation parameter calculation module 56 of the subtractor 87, and the clock of the receiver 3 from the main filter module 86-1 The best estimates of the bias and the clock bias rate are fed into the predicted pseudorange and pseudorange rate calculation module 88. The predicted pseudorange and pseudorange rate of each tracked satellite channel can be calculated using the following 10 parameters: the position and velocity of the GPS satellite, the position and velocity of the inertial measurement component, and the receiver clock offset estimated by Kalman And clock bias rate, clock correction for deterministic GPS satellite receivers, and atmospheric delay of the calculated signal. The predicted pseudorange and pseudorange rate of each GPS satellite tracking channel are
15 输給概通道的本地濾波器模塊85，並被轉換為預測的GPS 信號的碼延時和载波多普勒頻移，输出給每個追縱衛星頻 道的數字信號處理模塊25，用以閉合GPS信號的追蹤回路 〇 3(b)-2參考導航參數誤差包括：三個位置誤差、三個 2〇速度誤差、三個姿態誤差、以及慣性感應器誤差和GPS接 數器誤差，陀螺儀誤差、及接收器時鐘誤差；並在每個該 本地濾波器模塊85中建模，其微分方程可表示為： X(t)=F(t)X (t)+G(t) W(t) -27- - _ . . 本紙張尺度適用中國國家標隼（CNS ) A4规格（210X297公釐） 83. 3.10,000 (請先閲讀背面之注意事項再填窝本頁) 裝· 訂 經濟部中央榇準局員工消費合作社印製 444129 五、發明説明（26) Α7 Β7 10 15 來自Sif字信號處理模塊25之潮量的属距和偽距率、 細雜矩和距和偽距率計算模塊88 夕肺心及獅的_和偽醉計算模塊抑 減波器_=及參考的慣性導航參數，均—起被該本地 器她85接收，並用來執行下列處理麵： 更新系統和量测方程式的參數； 計算系統方程式的離散模型參數； 計算量測方程式的線性模型參數； 計算狀態估計及其方差陴的時間傳播； ，每顧縱謎織之淑的胁傾料與預 二、口偽距率減’並職距和偽轉的追縱誤差插 ^以作為侧追縱衛星頻道之該本地遽波器模塊^量 (请先閱讀背面之注意事項再填寫本頁) .裝.15 The local filter module 85 input to the approximate channel is converted into the predicted code delay and carrier Doppler frequency shift of the GPS signal and output to each digital signal processing module 25 tracking the satellite channel to close the GPS. Signal tracking loops 〇3 (b) -2 Reference navigation parameter errors include: three position errors, three 20 speed errors, three attitude errors, inertial sensor errors and GPS receiver errors, gyroscope errors, And receiver clock error; and modeled in each of the local filter modules 85, the differential equation can be expressed as: X (t) = F (t) X (t) + G (t) W (t)- 27--_.. This paper size is applicable to China National Standard (CNS) A4 (210X297 mm) 83. 3.10,000 (Please read the precautions on the back before filling in this page) Printed by the quasi-station employee consumer cooperative 444129 V. Description of the invention (26) Α7 Β7 10 15 The tidal range and pseudorange rate, fine noise moment and range and pseudorange rate calculation module 88 from the Sif signal processing module 25 Pulmonary heart and lion _ and pseudo drunk calculation module damper _ = and reference inertial navigation parameters, both It is received by the local device she 85 and used to perform the following processing: update the parameters of the system and measurement equations; calculate the discrete model parameters of the system equations; calculate the linear model parameters of the measurement equations; calculate the state estimates and their variances Time transmission; every time Gu Zhizhi's threats and predictions are reduced, the pseudo-distance ratio is reduced, and the tracking error of the pitch and pseudo-turn is inserted as the local wave receiver for the side tracking satellite channel. Module ^ amount (please read the precautions on the back before filling this page).
'1T 娌濟部中央榇準局貞工消費合作社印製 計算量測殘差； 更新狀態估計及其方差矩陣； 更新後的狀態倾及方差矩_輸出給社職器模塊％ -28- 紙張:適用中固國家標準—(CNS )( 2】〇χ297公费）.- 83.丄 1〇,0〇〇 經濟部中央標準局CKX消費合作衽印製 44 129 A7 ..- ____ B7_ 五、發明説明（27) 和FDIR 89 » 3(b)-3來自每一個該本地濾波器模塊85的本地狀態估 計及方差陣均被输出給該主濾波器模塊86，用於執行融合 計算以得出全局最佳的狀態估計，並將之輸出給該^^汉 5 89和該開關91。 全局最佳的狀態估計包括有慣性導航參數誤差、GPS 接收器誤差、慣性感應器誤差、及由該主濾波器模塊86得 到之方差矩陣的最佳估計，用來被反饋回每—個本地濾波 器模塊85 ’以便重新設定該本地濾波器模塊85，並拿來執 1〇行該主濾波器模塊86和每個該本地濾波器模塊85之間的信 息分享。 該主濾波器模塊86和每個本地濾波器模塊85之間的通 信’及用在該主濾波器模塊86和每個本地濾波器模塊之估 計方法，可以用不同的方式，以便獲得不同的系統性能表 15現。 , 3(b)_4來自每個該本地濾波器模塊的局部狀態估計.及 其方差矩陴，和來自該主濾波器模塊S6的全局最佳狀態估 計及其方差矩障，，被該FDIR 89接收，並用來執行相容性 檢驗，以便能撿測並隔離出由故障GPS衛星所造成之有故 20障的偽距及偽距率量測；如果撿測出故障，有故障GPS衛 星的標誌會被FDIR 89输出給該主濾波器模塊86，以便重 構該主濾波器模塊86，來隔離有故障的衛星。 對GPS完善性（Integrity)監测來説，第3 (b)的FDIR 89 的性能要優於第3⑻方法的FDIR 84性能，因為第3⑻方案 -29-'1T Printed and calculated residuals by the Zhengong Consumer Cooperative of the Central Ministry of Health, the Ministry of Economic Affairs; updated state estimates and their variance matrices; updated state tilts and moments of variance_output to the social server module% -28- paper: Applicable to China National Standards (CNS) (2) 0 × 297 public funds.-83. 丄 10.0, CKX Consumer Cooperation of Central Standards Bureau of the Ministry of Economic Affairs 44 129 A7 ..- __ B7_ V. Description of the invention (27) and FDIR 89 »3 (b) -3 The local state estimates and variance matrices from each of the local filter modules 85 are output to the main filter module 86 for performing fusion calculations to obtain the global optimum. The best state is estimated and output to the ^^ han 5 89 and the switch 91. The global best state estimation includes the inertial navigation parameter error, GPS receiver error, inertial sensor error, and the best estimate of the variance matrix obtained by the main filter module 86, which is used to feed back each local filter. The filter module 85 ′ resets the local filter module 85 and performs information sharing between the main filter module 86 and each of the local filter modules 85. The communication between the main filter module 86 and each local filter module 85, and the estimation method used in the main filter module 86 and each local filter module, can be used in different ways in order to obtain different systems Performance table 15 is shown. , 3 (b) _4 The local state estimates from each of the local filter modules. And their variance moments 陴, and the global best state estimates and their variance moment barriers from the main filter module S6 are taken by the FDIR 89 Received and used to perform compatibility check, so as to be able to detect and isolate false range and false range rate measurements caused by faulty GPS satellites; if faults are detected, there are signs of faulty GPS satellites It will be output to the main filter module 86 by FDIR 89 so as to reconstruct the main filter module 86 to isolate the faulty satellite. For GPS Integrity monitoring, the performance of FDIR 89 of 3 (b) is better than the performance of FDIR 84 of method 3), because the method of 3 -29-
- I I 本紙張从適用中關家標芈（CNS)八4祕（21GX297公 {請先聞讀背面之注#項δ寫本頁) 裝· -訂 83. 3. 10,000 } ! 444129 j A7 __________ B7 五、發明説明---- 是有並行濾波的結構。 完善性是彳旨紐梳力咖户提綱賴警告信號來 終止操作；人們關心的是有故障的GPS衛星有可能向用户 發出錯誤的導航#息；當GPS的導航精度超出規定的警告 5.範圍時’要求的警告時間在丨〇秒之內；但不幸的是的 控制部份不能反應這個時間限制範圍内的故障；通常GPS 控制部份要花費I5分鐘到2個小時的時間來發覺GPS的故障 、辫別出故障、確定校正方案並作出反應。 f i裝 訂 (請先閎讀背面之注意事頃再填寫本頁) 衄濟部中央標率局員工消費合作社印製 0- -3 本紙張尺度適用中國國家標參（CMS ) Α4規格U10Χ297公釐〉 83. 3.10,000-II This paper is applicable from the 8th Secret of the Zhongguan Family Standard (CNS) (21GX297) {Please read the note on the back #item δ to write this page) Binding · -Order 83. 3. 10,000}! 444129 j A7 __________ B7 Five 2. Description of the invention ---- It is a structure with parallel filtering. The perfection is the purpose of the warning signal to terminate the operation; people are concerned that a faulty GPS satellite may send the wrong navigation information to the user; when the GPS navigation accuracy exceeds the specified warning range 5. The required warning time is within 0 seconds; but unfortunately the control part cannot reflect the fault within this time limit; usually the GPS control part takes 15 minutes to 2 hours to detect the GPS. Failures, pinpoint failures, determine corrective actions, and respond. fi binding (please read the notes on the reverse side before filling out this page) Printed by the Consumers' Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs 0- -3 This paper size applies to Chinese National Standards (CMS) Α4 size U10 × 297 mm> 83. 3.10,000
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| US09/256,509 US6240367B1 (en) | 1998-11-27 | 1999-02-22 | Full fusion positioning method for vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8270457B2 (en) | 2007-06-27 | 2012-09-18 | Qualcomm Atheros, Inc. | High sensitivity GPS receiver |
| CN106441287A (en) * | 2015-08-10 | 2017-02-22 | 通用汽车环球科技运作有限责任公司 | Reduced-order fail-safe IMU system for active safety application |
| CN109520495A (en) * | 2017-09-18 | 2019-03-26 | 财团法人工业技术研究院 | Navigation positioning device and navigation positioning method using same |
-
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8270457B2 (en) | 2007-06-27 | 2012-09-18 | Qualcomm Atheros, Inc. | High sensitivity GPS receiver |
| US8509362B2 (en) | 2007-06-27 | 2013-08-13 | Qualcomm Incorporated | High sensitivity GPS receiver |
| US8755472B2 (en) | 2007-06-27 | 2014-06-17 | Qualcomm Incorporated | High sensitivity GPS receiver |
| CN106441287A (en) * | 2015-08-10 | 2017-02-22 | 通用汽车环球科技运作有限责任公司 | Reduced-order fail-safe IMU system for active safety application |
| CN106441287B (en) * | 2015-08-10 | 2019-08-13 | 通用汽车环球科技运作有限责任公司 | Depression of order fail safe IMU system for activity safety application |
| CN109520495A (en) * | 2017-09-18 | 2019-03-26 | 财团法人工业技术研究院 | Navigation positioning device and navigation positioning method using same |
| CN109520495B (en) * | 2017-09-18 | 2022-05-13 | 财团法人工业技术研究院 | Navigation positioning device and navigation positioning method using same |
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