紧耦合GPS/INS组合导航技术仿真研究

提出了一种改进的惯性导航系统(inertial navigation system, INS)辅助GPS载波跟踪算法，设计了一种基于伪距/伪距率组合的信息融合算法，并对相应的算法进行了仿真验证。仿真结果表明：在紧耦合GPS/INS组合导航系统中,惯导对GPS跟踪环路的辅助，可以保证接收机环路滤波器在窄带宽下仍能正常工作；基于伪距/伪距率的GPS/INS信息融合方法，使组合导航系统在GPS接收机接收的卫星少于4颗的时候仍能有效地利用GPS导航信息，同时利用组合滤波器的输出对INS系统的误差进行修正，提高了整个组合导航系统的导航精度。

Simulation research on the technology of the tightly-coupled GPS/INS integration

Tight-coupled GPS/INS integrated navigation,as an important part of integrated navigation technology,included two parts information.One is the INS aided GPS tracking algorithm,and the other is the integrated algorithm of the navigation information of INS and GPS.An improved INS aided GPS carrier tracking algorithm is presented and an integrated algorithm based on the pseudorange and pseudorange rate is introduced.The simulated result proves that in the tightly-coupled integration strategy,the use of INS-aided tracking loops allows the INS to account for local receiver dynamics,thereby permitting the GPS receiver to narrow the bandwidth of its phase tracking loops; the use of the integration method based on pseudorange and pseudorange rate allows the integration navigation system correcting the errors of INS even when the received satellites of GPS are less than four,and improves the precision of the navigation system.