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全球导航卫星系统（GNSS）信号减弱和拒止环境下基于载波相位的紧密耦合GPS/北斗/惯性导航系统（INS）集成性能分析

Performance analysis on carrier phase-based tightly-coupled GPS/BDS/INS integration in GNSS degraded and denied environments.

作者信息

Han Houzeng, Wang Jian, Wang Jinling, Tan Xinglong

机构信息

School of Environment Science and Spatial Informatics, China University of Mining and Technology (CUMT), Xuzhou 221116, China.

School of Civil and Environmental Engineering, University of New South Wales (UNSW), Sydney, NSW 2052, Australia.

出版信息

Sensors (Basel). 2015 Apr 14;15(4):8685-711. doi: 10.3390/s150408685.

DOI:10.3390/s150408685
PMID:25875191
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC4431263/
Abstract

The integration of Global Navigation Satellite Systems (GNSS) carrier phases with Inertial Navigation System (INS) measurements is essential to provide accurate and continuous position, velocity and attitude information, however it is necessary to fix ambiguities rapidly and reliably to obtain high accuracy navigation solutions. In this paper, we present the notion of combining the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS) and low-cost micro-electro-mechanical sensors (MEMS) inertial systems for reliable navigation. An adaptive multipath factor-based tightly-coupled (TC) GPS/BDS/INS integration algorithm is presented and the overall performance of the integrated system is illustrated. A twenty seven states TC GPS/BDS/INS model is adopted with an extended Kalman filter (EKF), which is carried out by directly fusing ambiguity fixed double-difference (DD) carrier phase measurements with the INS predicted pseudoranges to estimate the error states. The INS-aided integer ambiguity resolution (AR) strategy is developed by using a dynamic model, a two-step estimation procedure is applied with adaptively estimated covariance matrix to further improve the AR performance. A field vehicular test was carried out to demonstrate the positioning performance of the combined system. The results show the TC GPS/BDS/INS system significantly improves the single-epoch AR reliability as compared to that of GPS/BDS-only or single satellite navigation system integrated strategy, especially for high cut-off elevations. The AR performance is also significantly improved for the combined system with adaptive covariance matrix in the presence of low elevation multipath related to the GNSS-only case. A total of fifteen simulated outage tests also show that the time to relock of the GPS/BDS signals is shortened, which improves the system availability. The results also indicate that TC integration system achieves a few centimeters accuracy in positioning based on the comparison analysis and covariance analysis, even in harsh environments (e.g., in urban canyons), thus we can see the advantage of positioning at high cut-off elevations that the combined GPS/BDS brings.

摘要

将全球导航卫星系统（GNSS）载波相位与惯性导航系统（INS）测量值进行融合，对于提供准确且连续的位置、速度和姿态信息至关重要，然而，要获得高精度导航解决方案，必须快速且可靠地解算模糊度。在本文中，我们提出了将全球定位系统（GPS）、北斗导航卫星系统（BDS）和低成本微机电传感器（MEMS）惯性系统相结合以实现可靠导航的概念。提出了一种基于自适应多径因子的紧耦合（TC）GPS/BDS/INS集成算法，并阐述了集成系统的整体性能。采用一个包含二十七个状态的TC GPS/BDS/INS模型和扩展卡尔曼滤波器（EKF），通过直接将模糊度固定的双差（DD）载波相位测量值与INS预测伪距进行融合来估计误差状态。利用动态模型开发了INS辅助整数模糊度解算（AR）策略，采用两步估计程序并自适应估计协方差矩阵以进一步提高AR性能。进行了一次实地车辆测试以验证组合系统的定位性能。结果表明，与仅采用GPS/BDS或单卫星导航系统集成策略相比，TC GPS/BDS/INS系统显著提高了单历元AR可靠性，尤其是对于高截止仰角情况。在存在与仅采用GNSS情况相关的低仰角多径时，具有自适应协方差矩阵的组合系统的AR性能也显著提高。总共十五次模拟中断测试还表明，GPS/BDS信号重新锁定的时间缩短了，这提高了系统可用性。结果还表明，基于比较分析和协方差分析，即使在恶劣环境（如城市峡谷）中，TC集成系统在定位方面也能达到几厘米的精度，因此我们可以看到组合GPS/BDS在高截止仰角定位方面的优势。

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