全球定位系统
全毬定位繫統
전구정위계통
GPS WORLD OF CHINA
2013年
5期
27-33,39
,共8页
SINS%GPS软件接收机%紧组合%Kalman滤波
SINS%GPS軟件接收機%緊組閤%Kalman濾波
SINS%GPS연건접수궤%긴조합%Kalman려파
SINS%GPS software receiver%tightly-coupled%Kalman filter
为了系统验证SINS/GPS紧组合系统的性能，基于GPS软件接收机，进行了仿真系统构建。仿真系统由轨迹发生器、G PS 中频信号模拟器、IM U 信号模拟器、G PS软件接收机、SINS导航解算模块、组合滤波算法和导航性能分析模块等部分构成，其中详细设计了GPS软件接收机中的捕获和跟踪算法、SINS解算以及基于伪距和伪距率的组合滤波算法。仿真结果表明：紧组合导航系统收敛性较好，能够一定程度上抑制惯导系统误差的积累，有较好的导航性能。设计的该系统满足紧组合导航系统性能验证的需要，也为后续的超紧组合研究奠定了良好的基础。
為瞭繫統驗證SINS/GPS緊組閤繫統的性能，基于GPS軟件接收機，進行瞭倣真繫統構建。倣真繫統由軌跡髮生器、G PS 中頻信號模擬器、IM U 信號模擬器、G PS軟件接收機、SINS導航解算模塊、組閤濾波算法和導航性能分析模塊等部分構成，其中詳細設計瞭GPS軟件接收機中的捕穫和跟蹤算法、SINS解算以及基于偽距和偽距率的組閤濾波算法。倣真結果錶明：緊組閤導航繫統收斂性較好，能夠一定程度上抑製慣導繫統誤差的積纍，有較好的導航性能。設計的該繫統滿足緊組閤導航繫統性能驗證的需要，也為後續的超緊組閤研究奠定瞭良好的基礎。
위료계통험증SINS/GPS긴조합계통적성능，기우GPS연건접수궤，진행료방진계통구건。방진계통유궤적발생기、G PS 중빈신호모의기、IM U 신호모의기、G PS연건접수궤、SINS도항해산모괴、조합려파산법화도항성능분석모괴등부분구성，기중상세설계료GPS연건접수궤중적포획화근종산법、SINS해산이급기우위거화위거솔적조합려파산법。방진결과표명：긴조합도항계통수렴성교호，능구일정정도상억제관도계통오차적적루，유교호적도항성능。설계적해계통만족긴조합도항계통성능험증적수요，야위후속적초긴조합연구전정료량호적기출。
In order to systematically verify the performance of SINS/GPS tightly-coupled system ,based on a GPS software receiver ,and a simulation system is constructed .The sim-ulation system consists of a trajectory generator ,a GPS IF signal simulator ,an IM U signal simulator ,a GPS software receiver ,a SINS navigation solver module ,a Kalman filter ,a navigation performance analysis module and other components .The detailed design of the ac-quisition and tracking algorithm of GPS software receiver ,SINS solution and Kalman filter based on pseudorange and pseudorange rate is provided .The simulation results show that , tightly-coupled integrated navigation system has a better convergence ,can control accumula-ted errors of SINS from a certain extent ,so it has a better navigation performance .And the system can meet the needs of tightly-coupled integrated navigation system performance veri-fication .The simulation platform can also be employed for the following research on ultra-tightly-coupled SINS/GPS .
