【作者】 李磊；

【导师】 鲍其莲；

【作者基本信息】 上海交通大学 ， 导航、制导与控制， 2009， 硕士

【摘要】 捷联惯性导航系统(SINS,Strap-down Inertial Navigation System)、全球定位系统(GPS, Global Positioning System)各有其特点。GPS/SINS组合,性能互补,是高度自主性和高精度导航的重要方案。基于伪距、伪距率的GPS/SINS深度组合导航系统相对于基于速度、位置的组合导航系统具有更高的导航精度、更好的鲁棒性、抗干扰性。论文主要研究深度组合导航滤波模型,利用SINS辅助GPS在可见星不足情况下实现定位。同时利用SINS判断出多路径效应,消除多路径效应的影响,实现高精度的定位。论文首先简单阐述了导航系统的发展概况,GPS/SINS组合导航系统的特点,国内外深度组合的发展现状,以及组合导航系统的信息融合理论;分别对组合导航子系统(GPS和捷联惯性导航系统)的原理和误差进行分析,并且介绍了多路径效应的原理,产生原因和常见消弱多路径效应的方法。其次,以GPS系统和捷联惯导系统误差方程为基础,建立深度组合导航系统误差模型,设计出GPS/SINS深度组合仿真系统。研究深度组合导航中的信息融合技术,重点研究了离散卡尔曼滤波、自适应卡尔曼滤波和平淡卡尔曼滤波方法,并对不同滤波方法的定位精度进行比较。从仿真结果中看出,平淡卡尔曼滤波的精度最高,因此选择平淡卡尔曼滤波作为深度组合导航系统的滤波模型。然后,在GPS可见星不足的情况下,利用SINS辅助定位,通过设计的实验比较,发现在可见星不足(3颗星)的情况下,GPS/SINS深度组合模型能够实现短暂的精确定位。最后,利用SINS辅助判断多路径效应,通过SINS推算出下一时刻的伪距、伪距率。通过对伪距、伪距率范围的确定,可以判定受到多路径效应影响的卫星。在定位解算时,去除此颗卫星,用GPS/SINS深度组合导航系统模型,消除多路径效应的影响,实现高精度的定位。更多还原

【Abstract】 GPS (Global Positioning System) satellite navigation system, strap-down inertial navigation system (SINS) each has its traits. Integrating GPS, SINS and complementing their performance is important scheme for highly autonomous and accurate navigation. Deep integrated GPS/SINS system based on pseudo-range and pseudo-range rate is more accurate, robust, jam-resistant than the loosely coupled model based on position and velocity. The thesis mainly research the filter model of deep coupled navigation system .Based on this model, SINS is used to assist position calculation of GPS when less than 4 satellites in sight. In the meanwhile, SINS is used to determine the multipath effect and eliminate the multipath effect to reach high precision.Firstly, a brief review of the development of navigation system and the characteristics of integrated navigation system, then the present situation of deep integrated system and the theory of the data fusion of integrated navigation system are discussed. The principles, error models and characteristics of different navigation systems, including Strap-down Inertial Navigation System (SINS), Global Positioning System (GPS) are also introduced. Then the principle, reason of multi-path effect and some normal ways to eliminate it are also introduced.Secondly, error model of deep integrated navigation system is build based on the error equation of GPS and SINS and the simulation system of deep integrated GPS/SINS system is designed. Then, the data fusion technology of deep integrated navigation system is researched. Discrete Kalman Filter, Adaptive Filter and Unscented Kalman Filter (UKF) are used in the system. After the comparison of different filter models, the best precision filter model is used in the deep integrated navigation system below. Thirdly, SINS is used to assist the position calculation of GPS when less than 4 satellites insight. Experiment results show that the deep integrated GPS/SINS system can realize high precision positioning in a short time.Finally, SINS is used to determine the multi-path effect .Pseudo-range and pseudo-range rate can be calculated by SINS. The satellite which suffered from multi-path effect can be determined by judging the reasonable range of pseudo-range and pseudo-range rate. Then, the satellite suffered from multi-path effect is not used in the position calculation. Experiment results shows that the method can effectively eliminate the multi-path effect and get high precision position information.更多还原