CAJ | 학술논문

GNSS/MINS组合导航系统具有全天候、高动态、误差不随时间累积、连续高速输出导航参数的优点，但目前高精度MEMS IMU价格太高，限制了GNSS/MINS组合导航系统的应用范围。使用低精度MIMU辅助GNSS，容易导致GNSS基带跟踪环路失锁。为了找出MIMU精度与GNSS基带跟踪环路稳定性之间的关系，通过航迹发生器产生不同精度MIMU输出数据，通过GNSS模拟器产生GNSS中频数据，仿真测试不同精度MIMU辅助下GNSS基带跟踪环路稳定性。仿真结果表明，用于GNSS/MINS标量深组合导航系统的MIMU陀螺零偏稳定性应优于570(°)/h，加速度计零偏稳定性应优于19 mg，如果MIMU精度低于如上指标，则只能进行松组合或者紧组合，该结果具有工程指导意义。
GNSS/MINS조합도항계통구유전천후、고동태、오차불수시간루적、련속고속수출도항삼수적우점，단목전고정도MEMS IMU개격태고，한제료GNSS/MINS조합도항계통적응용범위。사용저정도MIMU보조GNSS，용역도치GNSS기대근종배로실쇄。위료조출MIMU정도여GNSS기대근종배로은정성지간적관계，통과항적발생기산생불동정도MIMU수출수거，통과GNSS모의기산생GNSS중빈수거，방진측시불동정도MIMU보조하GNSS기대근종배로은정성。방진결과표명，용우GNSS/MINS표량심조합도항계통적MIMU타라령편은정성응우우570(°)/h，가속도계령편은정성응우우19 mg，여과MIMU정도저우여상지표，칙지능진행송조합혹자긴조합，해결과구유공정지도의의。
GNSS/MINS integrated navigation system can work under all-weather, high dynamic circumstances, outputs navigation parameters continuously and navigation errors is not accumulated over time. But high precision MEMS IMU is expensive which limit the using area of GNSS/MINS integrated navigation system. On the other hand, GNSS tracking loop is easy to lose-lock with assistance of low-cost and low precision MEMS IMU. A method of finding the relation between MIMU precision and stability of GNSS tracking loop is presented. Use trajectory generator to generate coordinated turn trajectory of airplane and outputs of different precision MIMU, GNSS IF signal is generated by GNSS signal simulator. Series of simulation are carried out which shows the result:when gyroscope bias stability is less than 570 deg/h and accelerometer bias stability is less than 19 mg, stability of scalar GNSS/MINS deep integrated tracking loop is guaranteed, otherwise, the tracking loop loses lock and only loose-integrated or tight-integrated method can be used.