【作者】 刘春辉；

【导师】 陈萍；

【作者基本信息】 北京邮电大学 ， 通信与信息系统， 2013， 硕士

【摘要】 随着全球导航定位系统(GNSS)的不断发展,对其定位和测速以及定时的精度要求越来越高。为了提高GNSS定位测速的精度,由匈牙利数学卡尔曼研究出的卡尔曼滤波器,广泛应用于导航领域中的各种场合,包括基于kalman滤波的多普勒平滑,kalman定位测速,以及GNSS和SINS组合导航等等。本文研究卡尔曼在GNSS导航领域中的应用,其目的是提高导航系统的定位测速精度和系统稳定性。首先,介绍卡尔曼滤波器的基本原理及其数学模型。其次,研究了几种多普勒平滑的方法,主要分为传统的基于反复求平均的多普勒平滑方法和基于kalman滤波的多普勒平滑方法,其目的是提高测速精度。接下来,本文针对最小二乘法定位解算的不足,提出了基于kalman的PVT后处理方法,这种方法是先用最小二乘法算出接收机基本的定位信息如接收机的位置和速度,然后在输入到kalman滤波的模型中,作为kalman滤波的初始值,然后通过kalman滤波计算出接收机的位置和速度,该方法显著改善接收机定位测速的精度。最后,由于近年来捷连惯导广泛用于组合导航的领域中,组合导航根据SINS和GNSS的耦合方式不同分为松耦合、紧耦合和超紧耦合,紧耦合和超紧耦合研究难度大,开发工期长,本文用松耦合组合导航模型与SINS速度辅助相结合的方法,产生另一种新的组合导航滤波模型,以提高导航系统的稳定性。更多还原

【Abstract】 With the development of the global navigation positioning system (GNSS), the accuracy of positioning and speed as well as the timing is more and more highly needed. In order to improve the accuracy of GNSS positioning and speed, the Hungarian mathematician Kalman research out the kalman filtering. Because of the good performance of kalman filter, it is widely used in the field of navigation on various occasions, including kalman filter based on doppler smooth, kalman filter based on positioning and speed, and GNSS/SINS integrated navigation and so on.This paper makes a study of the kalman filer in GNSS in the field of navigation application. First of all, this paper introduces the basic principle of kalman filter and its mathematical model. Secondly, this paper introduces several kinds of doppler smoothing method, mainly divided into traditional average doppler smoothing method and kalman filtering doppler smoothing method. Next, because of the insufficiency of kalman filtering positioning calculating, this paper proposes the kalman post-processing method of PVT.This method uses least squares to calculate the receiver basic location information such as receiver position and speed, and then puts the information to the kalman filtering model as the initial value, and then through the kalman filtering calculates the receiver’s position and speed.Finally, in recent years the inertial navigation system is widely used in integrated navigation field, integrated navigation according to SINS and GNSS coupled mode different cent is divided into loosely coupled, tightly coupled and ultra tightly coupled.Tightly coupled and ultra tightly coupled research is difficult, and the development period is long. This paper will prove the combination method of the loosely coupled integrated navigation model and SINS speeding auxiliary to produce another kind of new integrated navigation filtering model.更多还原