基于完好性的深耦合系统中多路径误差

doi:10.11772/j.issn.1001-9081.2016.03.610

计算机应用 ›› 2016, Vol. 36 ›› Issue (3): 610-615.DOI: 10.11772/j.issn.1001-9081.2016.03.610

基于完好性的深耦合系统中多路径误差

刘琳琳, 郭承军, 田忠

电子科技大学电子科学技术研究院, 成都 610000

收稿日期:2015-08-10 修回日期:2015-09-15 出版日期:2016-03-10 发布日期:2016-03-17
通讯作者: 刘琳琳
作者简介:刘琳琳(1987-),男,江西九江人,硕士研究生,主要研究方向:组合导航、Linux嵌入系统;郭承军(1985-),男,山东潍坊人,高级工程师,博士研究生,主要研究方向:卫星导航仿真;田忠(1968-),男,四川成都人,研究员,博士,主要研究方向:信号与信息处理。
基金资助:
宁波市科技局民生重大专项C13(2013C51008)。

Multipath error of deep coupling system based on integrity

LIU Linlin, GUO Chengjun, TIAN Zhong

Research Institute of Electronic Science and Technology, University of Electronic Science and Technology of China, Chengdu Sichuan 610000, China

Received:2015-08-10 Revised:2015-09-15 Online:2016-03-10 Published:2016-03-17
Supported by:
This work is partially supported by the People's Livelihood Major Projects C13 of Ningbo Science and Technology Bureau (2013C51008).

摘要/Abstract

摘要： 针对全球定位系统(GPS)中的多路径误差消除问题,提出了一种基于完好性和深耦合结构相结合的多路径误差消除方法。首先,把GPS和捷联式惯性导航系统(SINS)构造成深耦合结构;然后,把鉴频鉴相器输出的伪距残差和伪距率残差作为检验统计量;其次,根据伪距残差和伪距率残差服从高斯分布,计算出伪距残差和伪距率残差的检测门限;最后,利用计算出的检测门限去评估检验统计量,把修正后的伪距残差和伪距率残差输入到卡尔曼滤波器中。将该方法与没有使用完好性的多路径误差消除方法进行仿真对比:纬度误差大约降低了40 m,偏航角误差大约降低了4°,北向速度误差大约降低了2 m/s;在与消除多路径误差的传统方法对比中(采用小波滤波),高度误差大约降低了40 m,俯仰角误差大约降低了5°。仿真结果表明,基于完好性的多路径消除方法能够有效消除由多路径带来的定位误差(位置误差、姿态角误差和速度误差),同时比传统的滤波法更能有效减小由多路径带来的定位误差。

关键词: 全球定位系统/惯性导航系统, 多路径误差, 完好性, 伪距残差, 伪距率残差

Abstract: Focused on the elimination of multipath error in Global Positioning System (GPS), a multipath error elimination method based on the combination of integrity and deep coupling structure was proposed. Firstly, the GPS and Strapdown Inertial Navigation System (SINS) were constructed into a deep coupling structure. Then, pseudorange residual and pseudorange rate residual which came from the output of phase frequency detector were used as the test statistics. Secondly, according to that pseudorange residual and pseudorange rate residual subjected to Gaussian distribution, the detection threshold of pseudorange residual and pseudorange rate residual was calculated. Finally, the detection threshold was used to evaluate the test statistics, and the modified pseudorange residual and pseudorange rate residual were put into the Kalman filter. In the simulation comparison of the proposed method with the multipath error elimination method without integrity: the latitude error decreased by about 40 m, the yaw angle error decreased by about 4 degrees, the north velocity error decreased by about 2 m/s. In contrast to the traditional method of eliminating multipath errors (using wavelet filtering): the height error decreased by about 40 m, the pitch angle error decreased by about 5 degrees. The simulation results show that the proposed method based on integrity can effectively eliminate the positioning error caused by multipath (reflected in position error, attitude angle error and velocity error). Meanwhile, comparing to the traditional filtering method, it can more effectively reduce the positioning error caused by multipath.

Key words: Global Positioning System/Inertial Navigation System (GPS/INS), multipath error, integrity, pseudorange residual, pseudorange rate residual

中图分类号:

TP391.9

刘琳琳, 郭承军, 田忠. 基于完好性的深耦合系统中多路径误差[J]. 计算机应用, 2016, 36(3): 610-615.

LIU Linlin, GUO Chengjun, TIAN Zhong. Multipath error of deep coupling system based on integrity[J]. Journal of Computer Applications, 2016, 36(3): 610-615.

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基于完好性的深耦合系统中多路径误差

Multipath error of deep coupling system based on integrity

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