| 引用本文: | 倪少杰,李诗扬,谢郁辰,等.GNSS/INS超紧组合导航综述.[J].国防科技大学学报,2023,45(5):48-59.[点击复制] |
| NI Shaojie,LI Shiyang,XIE Yuchen,et al.Overview of GNSS/INS ultra-tight integrated navigation[J].Journal of National University of Defense Technology,2023,45(5):48-59[点击复制] |
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| GNSS/INS超紧组合导航综述 |
| 倪少杰,李诗扬,谢郁辰,邓丁 |
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(国防科技大学 电子科学学院, 湖南 长沙 410073)
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| 摘要: |
| 卫星/惯性超紧组合导航系统以其定位精度高、动态性能优良、抗干扰能力强等特性成为组合导航领域的研究热点。介绍了卫星/惯性超紧组合的定位原理,基于对技术原理的分析,比较超紧组合模式相对于其他组合模式的优势特点；以高动态下超紧组合技术及卫星/微惯性单元超紧组合为代表介绍国内外研究现状；总结了亟待研究的容错控制技术、神经网络辅助、多传感器辅助超紧组合等关键技术,并对卫星/惯性超紧组合向着低成本、高精度、强稳定趋势发展的前景进行展望。 |
| 关键词: 超紧组合 深组合 全球导航卫星系统 惯性导航系统 |
| DOI：10.11887/j.cn.202305006 |
| 投稿日期：2022-09-20 |
| 基金项目:国家自然科学基金资助项目(U20A0193)；湖南省自然科学基金资助项目(2021JJ40665) |
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| Overview of GNSS/INS ultra-tight integrated navigation |
| NI Shaojie, LI Shiyang, XIE Yuchen, DENG Ding |
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(College of Electronic Science and Technology, National University of Defense Technology, Changsha 410073, China)
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| Abstract: |
| GNSS/INS ultra-tight integrated navigation system has become a research hotspot in the field of integrated navigation due to its high positioning accuracy, excellent dynamic performance and strong anti-jamming ability. The principle of GNSS/INS ultra-tight integration was introduced, and the advantages and features of ultra-tight integration mode relative to other integration modes were compared based on the analysis of the technical principle. The domestic and international research status was introduced, represented by ultra-tight integration under high dynamics and MIMU/GNSS ultra-tight integration. The key technologies such as fault-tolerant control technology, neural network assistance, and multi-sensor assisted ultra-tight integration were summarized, and the prospect of GNSS/INS ultra-tight integration towards low cost, high precision and strong stability was prospected. |
| Keywords: ultra-tight integrated deep coupled GNSS INS |
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