| 引用本文: | 汤勇刚,练军想,吴文启,等.北斗载波相位时间差分/SINS紧组合技术与实验研究.[J].国防科技大学学报,2007,29(2):19-23.[点击复制] |
| TANG Yonggang,LIAN Junxiang,WU Wenqi,et al.Tightly Coupled Integration Technology of RDSS Time Difference Carrier Phase/SINS and Its Experimental Research[J].Journal of National University of Defense Technology,2007,29(2):19-23[点击复制] |
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| 北斗载波相位时间差分/SINS紧组合技术与实验研究 |
| 汤勇刚, 练军想, 吴文启, 胡小平 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 说明北斗系统有源定位模式的不足，提出一种基于载波相位时间差分的北斗/SINS紧组合导航技术，即以导航卫星载波相位信号的时间差分作为Kalman滤波器的观测量，建立工作于无源方式的北斗/SINS紧组合导航系统。介绍载波相位时间差分的基本原理和数学模型，设计组合导航滤波器。通过动态和静态实验对算法的正确性和精度进行验证。实验结果表明，SINS的位置和速度误差积累受到有效的抑制，导航精度明显提高。 |
| 关键词: 载波相位时间差分 北斗 SINS 紧组合 实验研究 |
| DOI： |
| 投稿日期：2006-10-15 |
| 基金项目:国家自然科学基金资助项目(60234030)；国家部委基金资助项目(51409010203KG0152) |
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| Tightly Coupled Integration Technology of RDSS Time Difference Carrier Phase/SINS and Its Experimental Research |
| TANG Yonggang, LIAN Junxiang, WU Wenqi, HU Xiaoping |
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(College of Mechatronics Engineering and Automation， National Univ. of Defense Technology, Changsha 410073，China)
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| Abstract: |
| The shortcomings of active positioning mode of Chinese Beidou navigation satellites system are introduced while a new technology is proposed on the basis of time difference carrier phase (TDCP) for RDSS/SINS tightly coupled integration. The TDCP measurements are used as the observation of Kalman filter to establish a tightly coupled integrated navigation system that works in passive mode. The principles and mathematic model of TDCP are described and a Kalman filter for integration is designed. Static and dynamic state tests were performed to validate the algorithm and evaluate the accuracy. The results show that the accumulation of velocity errors and position errors are attenuated remarkably. |
| Keywords: time difference carrier phase RDSS SINS tightly coupled experimental research |
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