提高载车定位与卫星跟踪精度的多信息融合系统研究

基于应用背景对移动卫星通信车辆精确定位和实时动态通信的要求，提出了一种新的基于激光陀螺捷联导航系统（LINS）、光电编码器（OEC）、GPS、信标组合的载车精确导航定位与同步卫星实时跟踪方案．方案以LINS／OEC组合作为核心单元，GPS、信标作为辅助信息，研究了基于联邦滤波的信息融合策略，给出了融合系数的选取方法．论文在车辆移动卫星通信系统中创造性地引入光电编码器组合以提高姿态保持精度和系统自主定位精度，并有效降低系统对GPS的依赖性．大量试验研究表明采用该技术与融合方法后，载车在长时间、不同路况动态工作时，其定位精度CEP值在10m以内，天线姿态跟踪精度保持在±0．05°范围内，尤其在较长时间内系统受遮挡条件下，其定位、姿态跟踪精度较未组合光电编码器前的系统提高达50％以上．

Study on Multi-information Fusion System to Improve the Vehicle's Position and Satellite Tracking Accuracy

A new mobile vehicle positioning and satellite tracking scheme which was based on laser gyro strapdown inertial navigation system (LINS), opte-electronic coder (OEC), global position system (GPS) and beacon assemblies was proposed to meet the application requirements of accurate positioning and real-time dynamic communication for mobile satellite communication vehicle. By taking the LINS/PE as the core unit and the GPS, beacon assemblies as the auxiliary information in the scheme, an information fusion strategy based on federated filter was researched, also the method to determine the fusion coefficient was provided in detail. To improve the system attitude tracking and self-positioning accuracy, and meanwhile effectively reduce the system's dependence on GPS, the photoelectric encoder was creatively introduced to the vehicle mobile satellite communications system. Test results showed that through the substantial use of the technology and fusion methods, the CEP value of the vehicle's positioning accuracy was within 10 meters, and a perfect communication effect was achieved with antenna tracking accuracy maintains in ±0.05° during the whole tests wherever in city, highway and mountainou regions. Especially under the conditions of the system which was shaded after a long time, its positioning and attitude tracking precision could be improved by 50% or more compared with the system non-combination of photoelectric encoder.