CNS+GNSS+INS船载高精度实时定位定姿算法改进研究

doi:10.13474/j.cnki.11-2246.2019.0144

测绘通报 ›› 2019, Vol. 0 ›› Issue (5): 30-34.doi: 10.13474/j.cnki.11-2246.2019.0144

CNS+GNSS+INS船载高精度实时定位定姿算法改进研究

程风¹, 李海霞², 常乐¹, 王力¹, 牛小骥¹

1. 武汉大学卫星导航定位技术研究中心, 湖北武汉 430079;
2. 清华大学导航技术工程中心, 北京 100089

收稿日期:2019-02-11 出版日期:2019-05-25 发布日期:2019-06-04
作者简介:程风(1994-),男,硕士生,主要研究方向为惯性导航和多传感器融合。E-mail:cfeng@whu.edu.cn
基金资助:
国家重点研发计划（2016YFB0501803）；国家自然科学基金面上项目（41674038）

Research on improvement of CNS+GNSS+INS ship-borne high precision real-time positioning and attitude determination algorithms

CHENG Feng¹, LI Haixia², CHANG Le¹, WANG Li¹, NIU Xiaoji¹

1. GNSS Research Center, Wuhan University, Wuhan 430079, China;
2. Engineering Research Center for Navigation Technology, Tsinghua University, Beijing 100089, China

Received:2019-02-11 Online:2019-05-25 Published:2019-06-04

摘要/Abstract

摘要：

天文导航（CNS）、卫星导航（GNSS）和惯性导航（INS）3种系统组合可提供高精度的定位定姿结果。实际工程中因INS长时间误差累积，以及系统硬件传输存在不可忽略的时间延迟，导致INS提供给CNS的预报粗姿态误差较大，恶劣海况下难以保障快速搜星，造成天文导航可靠性下降、姿态测量精度较低的问题。为此，本文提出了一种CNS+GNSS+INS高精度信息融合实时定位定姿框架，引入了等角速度外推措施，有效地解决了惯导信息延迟问题。通过高精度转台模拟恶劣海况下载体大角速度摇摆，验证了本文提出的改进算法的有效性。试验结果表明，该算法架构简单，性能可靠，显著提高了恶劣环境下星敏感器的快速、准确搜星能力，保障了三组合姿态测量的精度和可用性。

关键词: CNS+GNSS+INS组合导航, 卡尔曼滤波, 时间延迟

Abstract:

The celestial navigation system(CNS), global navigation satellite system (GNSS) and inertial navigation system (INS) can provide high precision positioning and attitude results. In practical engineering, because of the accumulation of INS long-time errors and the time delay that can not be neglected in the transmission of system hardware, INS provides CNS with a large prediction coarse attitude error, which makes it difficult to guarantee fast satellite search under bad sea conditions, resulting in the decline of the reliability of astronomical navigation and the low accuracy of attitude measurement. In this paper, a real-time positioning and attitude determination framework based on CNS+GNSS+INS high-precision information fusion is proposed. Extrapolating equal angular rate is introduced to solve the problem of inertial navigation information delay effectively. The experimental results show that the proposed algorithm is simple in structure and reliable in performance. It significantly improves the fast and accurate star-searching ability of star sensors in harsh environments, and ensures the accuracy and availability of the CNS+GNSS+INS integrated system's attitude measurement.

Key words: CNS+GNSS+INS integrated navigation, Kalman filter, time delay

中图分类号:

P228

程风, 李海霞, 常乐, 王力, 牛小骥. CNS+GNSS+INS船载高精度实时定位定姿算法改进研究[J]. 测绘通报, 2019, 0(5): 30-34.

CHENG Feng, LI Haixia, CHANG Le, WANG Li, NIU Xiaoji. Research on improvement of CNS+GNSS+INS ship-borne high precision real-time positioning and attitude determination algorithms[J]. 测绘通报, 2019, 0(5): 30-34.

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CNS+GNSS+INS船载高精度实时定位定姿算法改进研究

Research on improvement of CNS+GNSS+INS ship-borne high precision real-time positioning and attitude determination algorithms

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