Chapter 47 Research on Ultra-Tight Integration Technology for GNSS/SINS Integrated Navigation Systems

摘要

GNSS/SINS deep integration relative to the tight integration can further improve navigation accuracy and noise immunity of high dynamic environment, and it is the future direction of development. A deep integrated navigation technology based on vector delay lock loop is researched. First, in the baseband signal preprocessing unit, Unscented Kalman Filter (UKF) is adopted to pre-filter the satellite signal, reduce the signal update rate, and the nonlinearity between I/Q signals and navigation state variables. By utilized base band signal pre-filter technology, the measurement equations of deeply integrated filter are simplified, and the calculation amount is also reduced significantly. For the heterogeneous sensor data fusion problem, in the deeply integrated filter design, an improved Unscented Particle Filter (UPF) algorithm based on the sequential importance sampling is proposed. The simulation studies show that the techniques researched here are effective. Comparing the tight integration technology, the position, velocity and attitude accuracy of navigation system are improved.