顾及ISB/IFB的多GNSS RTK/INS紧组合导航方法

doi:10.11947/j.AGCS.2022.20210124

测绘学报 ›› 2022, Vol. 51 ›› Issue (11): 2265-2272.doi: 10.11947/j.AGCS.2022.20210124

顾及ISB/IFB的多GNSS RTK/INS紧组合导航方法

郝雨时¹, 孙剑伟², 隋心³, 徐爱功³, 施闯^1,4

1. 北京航空航天大学电子信息工程学院, 北京 100083;
2. 中国电子科技集团公司第十五研究所, 北京 100083;
3. 辽宁工程技术大学测绘与地理科学学院, 辽宁阜新 123000;
4. 卫星导航与移动通信融合技术工信部重点实验室, 北京 100083

收稿日期:2021-03-22 修回日期:2022-09-12 发布日期:2022-11-30
通讯作者: 施闯 E-mail:shichuang@buaa.edu.cn
作者简介:郝雨时(1990—),男,博士,主要从事基于多源传感器数据融合的组合导航方法研究。 E-mail: haoys@buaa.edu.cn
基金资助:
国家重点研发计划(2020YFC1512003);国家自然科学基金(41931075)

Multi-GNSS RTK/INS tightly coupled integrated navigation method considering ISB/IFB estimation

HAO Yushi¹, SUN Jianwei², SUI Xin³, XU Aigong³, SHI Chuang^1,4

1. School of Electronic and Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. The 15th Research Institute of China Electronics Technology Group Corporation, Beijing 100083, China;
3. School of Geomatics, Liaoning Technical University, Fuxin 123000, China;
4. Laboratory of Navigation and Communication Fusion Technology, Ministry of Industry and Information Technology, Beijing 100083, China

Received:2021-03-22 Revised:2022-09-12 Published:2022-11-30
Supported by:
The National Key Research and Development Program of China (No. 2020YFC1512003); The National Natural Science Foundation of China (No. 41931075)

摘要/Abstract

摘要： 为解决不同GNSS间信号差异引起的多GNSS RTK/INS紧组合导航应用中卫星系统间模糊度固定失败的问题,本文提出顾及ISB/IFB的多GNSS RTK/INS紧组合导航方法,以进一步发挥多GNSS在复杂环境下的互补性和灵活性。本文推导了顾及ISB/IFB的多GNSS RTK/INS紧组合导航观测方程,给出了综合利用抗差估计方法和粒子群优化的ISB/IFB参数估计方法。试验结果表明,顾及ISB/IFB参数可以在一定程度上提高卫星系统间模糊度固定成功率;结合抗差估计方法提高卡尔曼状态估计浮点解精度,可显著提高多GNSS RTK/INS紧组合导航系统在复杂环境下的系统间模糊度固定成功率与导航精度。

关键词: ISB/IFB, GNSS RTK/INS紧组合导航系统, 抗差估计, 粒子群优化

Abstract: For better complementarity among multi-GNSS in GNSS challenging environment, multi-GNSS RTK/INS tightly coupled integration with consideration of ISB/IFB estimation is proposed, aiming at ambiguity resolution (AR) failure subject to signal difference between GNSS. Multi-GNSS RTK/INS tightly coupled measurement equation with ISB/IFB parameters is established, and the ISB/IFB estimation algorithm using robust estimation and particle swarm optimization (PSO) is proposed. The experimental results demonstrate that ambiguity-fixing success rate can be increased to a certain extend considering ISB/IFB estimation. Inter-GNSS ambiguity-fixing success rate is related to the accuracy of float solutions, and adopting measurement noise parameter adaptive control to improve float state estimation accuracy can leads better performance in terms of multi-GNSS RTK/INS inter-GNSS AR and navigation accuracy.

Key words: ISB/IFB, GNSS RTK/INS tightly coupled navigation system, robust estimation, PSO

中图分类号:

P228

郝雨时, 孙剑伟, 隋心, 徐爱功, 施闯. 顾及ISB/IFB的多GNSS RTK/INS紧组合导航方法[J]. 测绘学报, 2022, 51(11): 2265-2272.

HAO Yushi, SUN Jianwei, SUI Xin, XU Aigong, SHI Chuang. Multi-GNSS RTK/INS tightly coupled integrated navigation method considering ISB/IFB estimation[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(11): 2265-2272.

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顾及ISB/IFB的多GNSS RTK/INS紧组合导航方法

Multi-GNSS RTK/INS tightly coupled integrated navigation method considering ISB/IFB estimation

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