CAJ | 학술논문

为了提高GPS/INS组合导航系统在卫星信号缺失情况下的导航精度，采用基于伪距、伪距率的非线性紧组合模型，利用虚拟卫星法构造虚拟观测量，与真实观测量一起参与滤波。针对非线性滤波应用中的问题，采用强跟踪滤波原理和均方根策略对 CKF 进行改进。通过仿真实验，验证了改进算法和虚拟卫星法的可行性，在卫星信号缺失情况下可以提高导航精度，提高了组合导航适应复杂环境的能力。
위료제고GPS/INS조합도항계통재위성신호결실정황하적도항정도，채용기우위거、위거솔적비선성긴조합모형，이용허의위성법구조허의관측량，여진실관측량일기삼여려파。침대비선성려파응용중적문제，채용강근종려파원리화균방근책략대 CKF 진행개진。통과방진실험，험증료개진산법화허의위성법적가행성，재위성신호결실정황하가이제고도항정도，제고료조합도항괄응복잡배경적능력。
In order to improve the navigation accuracy of GPS/INS integrated navigation system under the condition of GPS signal invalidation, tightly-coupled model based on pseudo-range and pseudo-range rate was adopted, virtual observation using the method of virtual satellite was constructed and participated in filtering with real observation. For the problem in the application of nonlinear filtering, the theory of strong tracking filter and RMS strategies were used to improve the CKF. Simulation results verify the feasibility of improved algorithm and the method of virtual satellite, the navigation accuracy can be improved under the condition of GPS signal invalidation and the ability of GPS/INS integrated navigation to adapt to the complex environment are also improved.