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考虑噪声相关性的基于时间差分载波相位测量的集成GPS/INS性能改进

Performance Improvement of Time-Differenced Carrier Phase Measurement-Based Integrated GPS/INS Considering Noise Correlation.

作者信息

Kim Jungbeom, Kim Younsil, Song Junesol, Kim Donguk, Park Minhuck, Kee Changdon

机构信息

School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University, Seoul 08826, Korea.

Korea Aerospace Research Institute (KARI), Daejeon 34133, Korea.

出版信息

Sensors (Basel). 2019 Jul 12;19(14):3084. doi: 10.3390/s19143084.

DOI:10.3390/s19143084
PMID:31336950
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC6678740/
Abstract

In this study, we combined a time-differenced carrier phase (TDCP)-based global positioning system (GPS) with an inertial navigation system (INS) to form an integrated system that appropriately considers noise correlation. The TDCP-based navigation system can determine positions precisely based on high-quality carrier phase measurements without difficulty resolving integer ambiguity. Because the TDCP system contains current and previous information that violate the format of the conventional Kalman filter, a delayed state filter that considers the correlation between process and measurement noise is utilized to improve the accuracy and reliability of the TDCP-based GPS/INS. The results of a dynamic simulation and an experiment conducted to verify the efficacy of the proposed system indicate that it can achieve performance improvements of up to 70% and 60%, respectively, compared to the conventional algorithm.

摘要

在本研究中，我们将基于时间差分载波相位（TDCP）的全球定位系统（GPS）与惯性导航系统（INS）相结合，形成了一个能适当考虑噪声相关性的集成系统。基于TDCP的导航系统可以基于高质量的载波相位测量精确确定位置，而无需费力地解算整周模糊度。由于TDCP系统包含违反传统卡尔曼滤波器格式的当前和先前信息，因此采用了一种考虑过程噪声和测量噪声相关性的延迟状态滤波器，以提高基于TDCP的GPS/INS的精度和可靠性。为验证所提出系统的有效性而进行的动态仿真和实验结果表明，与传统算法相比，该系统分别可实现高达70%和60%的性能提升。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/6868e2059f26/sensors-19-03084-g014.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/43d79cc85009/sensors-19-03084-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/a9459aac6664/sensors-19-03084-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/560593cbedca/sensors-19-03084-g011.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/6868e2059f26/sensors-19-03084-g014.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/d54d187d6022/sensors-19-03084-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/d356e4ecd16a/sensors-19-03084-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/d2d2d9a4f1c4/sensors-19-03084-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/df8b5a530a25/sensors-19-03084-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/fa38271b4051/sensors-19-03084-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/43d79cc85009/sensors-19-03084-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/a9459aac6664/sensors-19-03084-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/560593cbedca/sensors-19-03084-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/0455e4abb08f/sensors-19-03084-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/d5899ad7ac8a/sensors-19-03084-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/8cb3/6678740/6868e2059f26/sensors-19-03084-g014.jpg

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本文引用的文献

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