CN108931791A - Defend used tight integration clock deviation update the system and method - Google Patents
Defend used tight integration clock deviation update the system and method Download PDFInfo
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- CN108931791A CN108931791A CN201710374917.1A CN201710374917A CN108931791A CN 108931791 A CN108931791 A CN 108931791A CN 201710374917 A CN201710374917 A CN 201710374917A CN 108931791 A CN108931791 A CN 108931791A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The present invention relates to one kind to defend used tight integration clock deviation update the system and method,Receiver is led including defending,Inertial navigation system and defend used tight integration clock deviation correcting device,It defends and leads receiver connection inertial navigation system and defend used tight integration clock deviation correcting device,Used tight integration clock deviation correcting device is defended in inertial navigation system connection,Defend lead receiver based on the received satellite-signal carry out processing and PVT resolve,Realization, which is defended, leads receiver positioning,And receiver clock-offsets are adjusted,Inertial navigation system carries out strapdown and resolves to obtain the position of inertial navigation system,Speed and posture information,And data calculate pseudorange estimated value based on the received,Pseudorange rates estimated value,Defend used tight integration clock deviation correcting device position of the data to inertial navigation system based on the received,Speed and posture information carry out the amendment of tight integration clock deviation,Obtain revised position,Speed and posture information simultaneously export,Compatibility is defended to lead receiver positioning and defend used tight integration and be positioned,Tight integration clock deviation is corrected with receiver clock-offsets,Effectively increase navigation accuracy.
Description
Technical field
The present invention relates to integrated navigation fields, defend used tight integration clock deviation update the system and method more particularly to one kind.
Background technique
It defends and leads receiver tracking satellite signal generation two fundamental distance measured values of pseudorange and carrier phase.The measurement of pseudorange
It is closely related with the time.The time that receiver clock generates usually with defend the time irreversibility led, time difference between the two is logical
Frequently referred to receiver clock clock deviation needs to estimate clock deviation value in position fixing process, could complete accurately awarding for system external
When.Clock deviation is influenced by clock accuracy, can be drifted about at any time.When clock deviation cannot get timing, system time inaccuracy will
So that the signal of local replica is asynchronous with the signal that receiver receives, signal losing lock is resulted even in.Therefore, system needs
Adjust clock deviation.
In traditional tight integration algorithm, receiver and tight integration are not worked at the same time, usually completely with the positioning knot of tight integration
Fruit replaces the positioning result of receiver, and the adjustment of the clock deviation of tight integration cooperation receiver is difficult to accurately reflect system Real-time Error feelings
Condition influences the observation of tight integration, causes navigator fix accuracy low.
Summary of the invention
Based on this, it is necessary to be repaired in view of the above-mentioned problems, providing a kind of high used tight integration clock deviation of defending of navigator fix accuracy
Positive system and method.
One kind defending used tight integration clock deviation update the system, including defends to lead receiver, inertial navigation system and defend used tight integration clock deviation and repair
Equipment, described defend lead receiver and connect the inertial navigation system and described defend used tight integration clock deviation correcting device, the inertial navigation system
Used tight integration clock deviation correcting device is defended described in system connection,
Described defend leads receiver for receiving satellite-signal, and is handled to obtain satellite to the satellite-signal and led with defending
The position and speed of pseudorange, pseudorange rates, satellite between receiver；PVT resolving is carried out according to the pseudorange and the pseudorange rates,
The position for leading receiver, speed, clock deviation and the clock defended is obtained to float；Current clock deviation is adjusted according to the clock deviation and clock drift,
Practical adjustment clock deviation is obtained, and the pseudorange, the pseudorange rates and the practical adjustment clock deviation are sent to described defend and are used to tight group
Close clock deviation correcting device, by the position of the satellite, speed and it is described defend the position for leading receiver, speed is sent to the inertial navigation
System；
The inertial navigation system for the position of the satellite based on the received, speed and it is described defend the position for leading receiver and
Speed is calculated, and reckoning obtains pseudorange estimated value and pseudorange rates estimated value；The inertial navigation system resolves to obtain institute by strapdown
State position, speed and the posture information of inertial navigation system, and by the pseudorange estimated value, the pseudorange rates estimated value and the inertial navigation
Position, speed and the posture information of system defend used tight integration clock deviation correcting device described in being sent to；
It is described to defend used tight integration clock deviation correcting device for the pseudorange, the pseudorange rates, the reality based on the received
Clock deviation, the pseudorange estimated value and the pseudorange rates estimated value are adjusted to the position of the inertial navigation system, speed and posture information
The amendment of tight integration clock deviation is carried out, the revised position of the inertial navigation system, speed and posture information is obtained and exports.
One kind defending used tight integration clock deviation modification method, includes the following steps：
Defend and lead receiver and receive satellite-signal, and to the satellite-signal handled to obtain satellite and defending lead receiver it
Between pseudorange, pseudorange rates, the position and speed of satellite；
Described defend leads receiver according to the pseudorange and pseudorange rates progress PVT resolving, obtains described defend and leads receiver
Position, speed, clock deviation and clock drift, current clock deviation is adjusted according to the clock deviation and clock drift, obtains practical adjustment clock deviation；
It is described defend lead receiver by the pseudorange, the pseudorange rates and the practical adjustment clock deviation be sent to it is described defend it is used tight
Combine clock deviation correcting device, by the position of the satellite, speed and it is described defend the position for leading receiver, speed be sent to it is described used
Guiding systems；
The inertial navigation system receives the position of the satellite, speed and described defends the position and speed for leading receiver, and root
It leads the position and speed of receiver according to received described defend and is calculated, reckoning obtains pseudorange estimated value and pseudorange rates estimated value；
The inertial navigation system resolves to obtain position, speed and the posture information of the inertial navigation system by strapdown, and by institute
Position, speed and the posture information for stating pseudorange estimated value, the pseudorange rates estimated value and the inertial navigation system are sent to described defend
Used tight integration clock deviation correcting device；
It is described to defend used tight integration clock deviation the correcting device pseudorange, the pseudorange rates, the practical adjustment based on the received
Clock deviation, the pseudorange estimated value and the pseudorange rates estimated value carry out the position of the inertial navigation system, speed and posture information
The amendment of tight integration clock deviation, obtains the revised position of the inertial navigation system, speed and posture information and exports.
Above-mentioned to defend used tight integration clock deviation update the system and method, compatibility is defended to lead receiver positioning and defend used tight integration and be positioned,
Tight integration clock deviation is corrected with receiver clock-offsets, receiver adjusts clock deviation in real time in tight integration realization, and it is quasi- to effectively increase navigation
True property.
Detailed description of the invention
Fig. 1 is tight integration clock deviation update the system structure chart in an embodiment；
Fig. 2 is tight integration clock deviation modification method flow chart in an embodiment；
Fig. 3 is tight integration clock deviation modification method flow chart in another embodiment.
Specific embodiment
In one embodiment, it as shown in Figure 1, one kind defends used tight integration clock deviation update the system, including defends and leads receiver
110, inertial navigation system 120 and used tight integration clock deviation correcting device 130 is defended, defends and leads receiver 110 and connect inertial navigation system 120 and defend used
Tight integration clock deviation correcting device 130, the connection of inertial navigation system 120 defend used tight integration clock deviation correcting device 130, defend and lead receiver 110
For receiving satellite-signal, and satellite-signal is handled to obtain satellite and defends pseudorange, the pseudorange led between receiver 110
Rate, the position and speed of satellite；PVT (Position, Velocity, Time, that is, position, speed are carried out according to pseudorange and pseudorange rates
And the time) resolve, it obtains defending the position for leading receiver 110, speed, clock deviation and clock drift；Current clock is adjusted according to clock deviation and clock drift
Difference obtains practical adjustment clock deviation, and is sent to and defends used tight integration clock deviation correcting device pseudorange, pseudorange rates and practical adjustment clock deviation
130, by the position of satellite, speed and defend the position for leading receiver 110, speed is sent to inertial navigation system 120；Inertial navigation system 120
The position and speed for leading receiver 110 for the position of satellite based on the received, speed and defending is calculated, and reckoning obtains pseudorange
Estimated value and pseudorange rates estimated value；Inertial navigation system 120 resolves to obtain position, speed and the posture of inertial navigation system 120 by strapdown
Information, and pseudorange estimated value, the position of pseudorange rates estimated value and inertial navigation system 120, speed and posture information be sent to defend it is used
Tight integration clock deviation correcting device 130；Used tight integration clock deviation correcting device 130 is defended for pseudorange, pseudorange rates, reality based on the received
It adjusts clock deviation, pseudorange estimated value and pseudorange rates estimated value and tight integration is carried out to the position of inertial navigation system 120, speed and posture information
Clock deviation amendment, obtains the revised position of inertial navigation system 120, speed and posture information and exports.
Specifically, defending and leading receiver 110 i.e. GPS receiver is to receive GPS satellite signal and determine that ground is empty
Between position instrument.The navigator fix signal that GPS satellite is sent is a kind of information resources shared for hundreds of thousands of subscribers, for
The users on land, ocean and space, as long as the receiving device of GPS signal can be received, tracks, converts and measure i.e. by possessing
Can, i.e. GPS signal receiver.Inertial navigation system be it is a kind of independent of external information, also not to external radiation energy from
Main formula navigation system.Its working environment not only includes aerial, ground, can also be under water.The groundwork of inertial navigation system
Principle is, by measurement carrier in the acceleration of inertial reference system, it to accumulate the time based on Newton mechanics law
Point, and it is transformed in navigational coordinate system, it will be able to obtain the letter such as speed, yaw angle and position in navigational coordinate system
Breath；Tight integration realizes the combination of satellite navigation and inertial navigation in measurement field, i.e., using pseudorange and pseudorange rates as the survey of system
Amount is realized with this and defends used tight integration (inert satellite tight integration) positioning.Tight integration is with respect to pine combination, and precision is higher, anti-interference energy
Power is stronger, relative to deep combination, realizes that simply difficulty is small.But since using pseudorange, as observation, tight integration also needs to estimate
System clock deviation simultaneously adjusts.
Specifically, it defends and leads receiver 110 and receive satellite-signal from antenna, and satellite-signal is handled to obtain satellite
Pseudorange between receiver 110, pseudorange rates, including following procedure are led with defending：It will defend and lead radiofrequency signal and down-convert to intermediate-freuqncy signal,
IF spot is predeterminated frequency；It leads intermediate-freuqncy signal to defending and is captured, tracked, after the demodulation of bit synchronization, frame synchronization and text, calculate
It obtains satellite and defends the pseudorange and pseudorange rates led between receiver 110, specially：
Wherein, ρ(n)、r(n)、δt(n)、I(n)、T(n)、δtuThe respectively corresponding pseudo-range measurements of satellite n and receiver
Geometric distance, satellite clock correction, the corresponding distance measure of ionospheric error, the corresponding distance measure of tropospheric error, puppet
Away from measurement error and receiver clock-offsets；Respectively correspond ρ(n)、r(n)、δt(n)、I(n)、T(n)、δtuDerivative, the corresponding pseudorange rates measured value of as satellite n, with geometric distance change rate, the satellite of receiver
The corresponding range rate measured value of clock rate, ionospheric error, the corresponding range rate measured value of tropospheric error, pseudorange rates
Measurement error, receiver clock rate.
Specifically, satellite ephemeris resolves based on the received for the position and speed of satellite.
In one embodiment, it defends and leads receiver 110 for receiving satellite-signal, and satellite-signal is handled to obtain
After pseudorange, pseudorange rates, the position and speed of satellite, PVT resolving is carried out according to pseudorange and pseudorange rates, obtains defending and leads receiver
Before 110 position, speed, clock deviation and clock floats, including：It defends and leads receiver for obtaining the number of satellite of connection, when satellite number
When amount is greater than or equal to preset threshold, then PVT resolving is carried out according to pseudorange and pseudorange rates, obtain the position of satellite navigation receiver
It sets, the drift of speed, clock deviation and clock；When number of satellite is less than preset threshold, returns and receive satellite-signal, and satellite-signal is carried out
Processing obtains the position and speed of pseudorange, pseudorange rates, satellite.
Specifically, pseudorange between receiver 110 and pseudorange rates are led as observed quantity using satellite and defending, according to observed quantity with
The relationship defended between the position for leading receiver 110, speed, clock deviation and clock drift carries out PVT resolving, and PVT is resolved, as its name suggests, i.e.,
Refer to that the Position, Velocity and Time of receiver user resolves, i.e., when number of satellite is more than or equal to 4, using (weighting) least square
Method or the method for filtering, which are calculated, defends the position for leading receiver 110, speed, clock deviation and clock drift, the specific following institute of formula
Show, can be exported receiver positioning result as system results：
Wherein, x=[x y z]TFor unknown receiver location coordinate vector, x(n)=[x(n) y(n) z(n)]TFor satellite n
Position coordinates vector,For the pseudo-range measurements after error correction, pseudorange is eliminated in formula
Amount of measurement errorThe equation group that solving speed is obtained after the derivation of above formula both sides, does not provide separately herein；Clock deviation is δ tu, clock, which floats, is
Clock rate inside velocity calculated.
According to clock deviation and the clock drift being calculated, correspondingly shifts to an earlier date or postpone local zone time, as adjust receiver
Current clock deviation obtains practical adjustment clock deviation, generates corresponding local Pseudolite signal with this, complete to satellite-signal persistently with
Track.
In one embodiment, inertial navigation system 120 is used to the position of satellite, speed based on the received and defends lead receiver
110 position and speed is calculated, and reckoning obtains pseudorange estimated value and pseudorange rates estimated value, specially：
Pseudorange estimated value=satellite position-is defended and leads receiver location
Pseudorange rates estimated value=satellite velocities-, which are defended, leads receiver speed
Specifically, inertial navigation system 120 resolves to obtain position, speed and the posture information of inertial navigation system 120 by strapdown, is used to
Guiding systems 120 carry out the mechanization that strapdown resolves as inertial navigation, and the location updating comprising inertial navigation, speed update and posture are more
Newly, i.e., using the acceleration information of the angular speed of gyroscope output and accelerometer output, numerical integration (uses such as quaternary number
Method, Euler's horn cupping, direction cosine method etc.) obtain position, speed and the posture information of inertial navigation system 120, the specific following institute of formula
Show, inertial navigation system 120 is mounted on carrier, and position, speed and the posture information of inertial navigation system 120 are it will be understood that become pair
The positioning of carrier also can be used as system results output.
A) posture renewal of inertial navigation：
Transition matrix between navigational coordinate system and body coordinate system isIfThen：
θ=- sin-1(C31)
Wherein, pitching angle theta：(- 90,90), course angleRoll angle γ：(0,360).
The posture differential equation corresponding with attitude matrix is：
Wherein,For the coordinate conversion matrix of navigational coordinate system to carrier coordinate system,It is matrix derivation,For correspondence
Attitude angular rateThe antisymmetric matrix of composition.
Attitude angular rate is：
Wherein,For the output of angular rate gyroscope,For earth rotation angular speed,For navigational coordinate system relative to
The angular speed of the earth, can be by instantaneous velocityIt is acquired with position.
B) speed of inertial navigation updates：
The speed of inertial navigation is updated to be obtained by solving inertial navigation velocity differentials equation, as follows：
Wherein, Ve、Vn、VuIt is the speed in northeast day direction, ω respectivelyieIt is terrestrial coordinate system relative to inertial coodinate system
Angular velocity of rotation, fe、fn、fuIt is the ratio force information of northeast day direction accelerometer output, R respectivelyNFor radius of curvature in prime vertical, RM
For radius of curvature of meridian,H is geographical height, and g is acceleration of gravity.
C) location updating of inertial navigation：
After resolving obtains speed, position can be obtained by rate integrating：
Wherein, λ, L, h are respectively receiver longitude, latitude and elevation.
In one embodiment, used tight integration clock deviation correcting device 130 is defended for pseudorange, pseudorange rates, reality based on the received
Border adjusts clock deviation, pseudorange estimated value and pseudorange rates estimated value and carries out tight group to the position of inertial navigation system 120, speed and posture information
Clock deviation amendment is closed, the revised position of inertial navigation system 120, speed and posture information is obtained and exports, including：Defend used tight integration clock
Poor correcting device 130 is used to be carried out according to pseudorange, pseudorange rates, practical adjustment clock deviation, pseudorange estimated value and pseudorange rates estimated value tight
The error of inertial navigation system is calculated in combined filter；Used tight integration clock deviation correcting device 130 is defended for according to inertial navigation
The error of system is modified the position of inertial navigation system, speed and posture information, after obtaining inertial navigation system amendment
Position, speed and posture information and export.
Specifically, used integrated navigation part is being defended, using Kalman filtering algorithm, including time renewal process and observation are more
New process.Time renewal process includes the one-step prediction of quantity of state and mean square error, observation renewal process include state estimation and
The estimation of mean square error, specially：
A) system mode one-step prediction equation
In formula,It is state Xk-1Kalman Filter Estimation value, it is to utilize tk-1The observation at moment and former moment
It is calculated,It is to utilizeBe calculated to XkOne-step prediction, be also believed to using tk-1Moment and in the past
The observation at moment is to tkThe one-step prediction at moment, Φk,k-1For state-transition matrix.
B) system state estimation equation
Above formula is to be calculated on the basis of one-step prediction according to observation,It can be described as newly ceasing
Journey, ZkFor observation vector, HkTo observe transfer matrix.
C) filtering gain equation
Wherein, KkGain matrix in Kalman filtering algorithm iterative process, RkThe error covariance matrix of observation noise, Kk
The standard of selection is to keep the mean squared error matrix for the amount of being estimated minimum.RkBig then KkSmall, the amount of being estimated is small to observation degree of dependence,
RkSmall then KkGreatly, the amount of being estimated is big to observation degree of dependence.
D) one-step prediction mean square error equation
Γk-1For system noise matrix, before seeking filtering gain battle array, it is necessary to first find out one-step prediction mean square error.One step
Predict mean squared error matrix Pk/k-1It is in mean squared error matrix Pk-1On the basis of consider system noise variance matrix Qk-1Influence obtain.
E) estimate mean square error equation
Specifically, in this programme tight integration filtering use be exactly Kalman filtering, that is realized with Kalman filtering
Tight integration filtering, tight integration filtering here refers to the optimal estimation of Kalman filtering, wherein 5 steps of Kalman filtering point：One
Walk prediction, a step covariance prediction, gain matrix, optimal estimation and the estimation of Optimal error covariance.
During realization, according to the shape for the Dynamic Model system that the error propagation model of inertial navigation and clock deviation clock float
Random walk model or single order Markov model usually can be used in the dynamic model of state equation, the drift of clock deviation clock, according to observation
Relationship between amount and quantity of state establishes observational equation, specific as follows：
A) tight integration state equation
Quantity of state is chosen for
Wherein, subscript e, n, u indicates east, north, three, day axial direction, φe、φn、φuFor east orientation, north orientation, day to platform miss
Declinate, Δ λ, Δ L, the location error that Δ h is longitude, latitude and height, Δ Ve、ΔVn、ΔVuFor east orientation, north orientation and day to
Velocity error, δ tuWith the clock deviation and clock rate of the clock that δ tru is GPS receiver.
Quantity of state is ins error parameter, and state equation is chosen for the error propagation equation of inertial navigation：
Wherein, XIFor state vector, AIBattle array is state-transition matrix, GIMatrix, W are driven for noiseIIt makes an uproar for system drive
Sound, each parameter can be obtained by ins error propagation equation and receiver clock-offsets model.
B) tight integration observational equation
Tight integration observational equation includes pseudorange error observation and pseudorange rates error observation.Tight integration provides what receiver measured
Pseudorange ρGj, pseudorange ratesAnd the pseudorange estimated value ρ that inertial navigation is calculatedIjWith pseudorange rates estimated valueThe two is obtained
The difference ρ of pseudorangeGj-ρIjWith the difference of pseudorange ratesPseudorange, pseudorange rates observed quantity as tight integration system.
The observational equation of pseudorange error is：
Zρ(t)=Hρ(t)X(t)+Vρ(t)
In formula：
Zρ(t)=δ ρj=ρGj-ρIj
Hρ(t)=[0j×3 aj1 aj2 0j×2 aj3 0 Hρ1]j×11
aj1=-(RN+h)[ej1 cos L sinλ-ej2 cos L cosλ]
aj2=(RN+h)[-ej1 sin L cosλ-ej2 sin L sinλ]+[RN(1-e2)+h]ej3 cos L
aj3=ej1 cos L cosλ+ej2 cos L sinλ+ej3 sin L
Wherein, ZρIt (t) is pseudorange error observed quantity, ρGj、ρIjThe respectively pseudorange of the corresponding receiver measurement of jth satellite
The pseudorange estimated value calculated with inertial navigation, HρIt (t) is pseudorange error observing matrix, (xI yI zI)TFor the position that inertial navigation measures, by defending
It is (x that star, which goes through determining jth satellite position,sj ysj zsj)T,To seek local derviation to x, e is elliptical eccentricity, whereinA is the major radius of datum ellipsoid body, and b is the short radius of datum ellipsoid body, rjFor receiver to the several of satellite
What distance.
Pseudorange rates error observational equation is：
In formula：
bj1=-ej1 cosλsin L-ej2 sin L sinλ+ej3 cos L
bj2=-ej1 sinλ+ej2 cosλ
bj3=ej1 cos L cosλ+ej2 cos L sinλ+ej3 sin L
Wherein,For pseudorange rates error observed quantity,Respectively the corresponding receiver of jth satellite measures
The pseudorange rates estimated value that pseudorange rates and inertial navigation calculate,For pseudorange rates error observing matrix, X (t) is system mode vector,
VpIt (t) is observation noise vector.
By pseudo range measurement equation and pseudorange rates measurement equation formula, it is merged into the measurement equation of integrated navigation system, is observed
Amount is then made of pseudorange difference and pseudorange rates difference, forms multidimensional measurement vector, and the measurement equation of combined system can be expressed as：
According to the above observational equation, tight integration filtering, estimated state amount are carried out.
In general, the resolving frequency of inertial navigation, which is relatively defended, leads PVT resolving frequency height, uses to defend in filtering and lead PVT resolving week
Phase, the inertial reference calculation period was as system filter predetermined period as system filter cycle estimator.Receipts are connected in each epoch to defend
Machine 110 tracks obtained satellite and defends pseudorange between leading receiver 110, pseudorange rates, the pseudorange estimated value calculated with inertial navigation, pseudorange
It is poor that rate estimated value is made, and as the observed quantity of tight integration filtering, specifically, after tight integration filters, estimation obtains the mistake of inertial navigation
Difference, including location error, velocity error, attitude error, last feedback modifiers obtain the final position of inertial navigation system 120, speed
And posture.
In one embodiment, used tight integration clock deviation correcting device 130 is defended for according to pseudorange, pseudorange rates, practical adjustment
Clock deviation, pseudorange estimated value and pseudorange rates estimated value carry out tight integration filtering, and the error of inertial navigation system is calculated, including：
Used tight integration clock deviation correcting device 130 is defended for obtaining the current time clock deviation of clock bias model prediction；Used tight integration clock deviation is defended to repair
The current time clock deviation and practical adjustment clock deviation that equipment 130 is used to be predicted according to clock bias model calculate the prediction of current time clock deviation
Value；Used tight integration clock deviation correcting device 130 is defended for according to current time clock deviation predicted value, pseudorange, pseudorange rates, pseudorange estimated value
Tight integration filtering is carried out with pseudorange rates estimated value, the error of inertial navigation system is calculated.
Specifically, tight integration filtering is tight integration state equation and measurement equation, passes through 5 of Kalman filtering
What step iteration came out.In filtering, clock bias model existing for receiver 110 itself is led due to defending, tight integration is again to clock
Difference is modeled, and the two model is complete to respective realize.But conflict will be present when being used together, based on reception
On the basis of machine carries out PVT resolving, receiver has carried out the adjustment of local zone time using the clock deviation itself estimated, causes tight group
The clock bias estimation of conjunction is practical to fail to obtain fully according to the changing rule that model describes, and needs in each epoch to tight integration
Clock deviation is reset, i.e., it is pre- to float model (such as random walk model or single order Markov model) according to clock deviation clock with tight integration
The clock deviation to current time is measured, the practical clock deviation amount adjusted of an epoch receiver is subtracted, just obtains tight integration current time
Clock deviation predicted value.At this point, satellite and the distance between carrier that inertial navigation calculates along with tropospheric error, ionospheric error and
Clock deviation predicted value, consistent, the pseudorange that the two is subtracted each other of physical meaning ability that the pseudorange obtained with receiver tracking is characterized
Difference is just suitable as the observed quantity of Kalman filtering.Because system does not adjust clock drift, clock drift is changed by crystal oscillator attribute, is connect
There is no conflicts for the clock drift that the clock drift of receipts machine estimation and tight integration are estimated, therefore, the clock drift estimated value of tight integration does not need to reset.
Specifically, the clock bias model of tight integration includes the clock deviation equivalent distances error and clock drift velocity equivalent error of tight integration
Dynamic model, in the present solution, tight integration clock deviation equivalent distances error and clock drift velocity equivalent error dynamic model such as
Shown in lower：
Wherein, δ tru=ctr, trIt is the drift of receiver clock, c is the light velocity,It is the driving of receiver clock-offsets equivalent distances error
White noise,The driving white noise of velocity equivalent error is floated for receiver clock.
The clock bias model of above-mentioned tight integration, essence with defend that lead 110 clock bias model of receiver almost the same.In the present embodiment
Also use this clock bias model, it is therefore an objective to which compatible receiver positioning and tight integration positioning had not only remained the advantage of tight integration, but also can be with
Retain original receiver function and performance, the clock deviation of tight integration reset using the clock deviation of each epoch adjustment of receiver,
I.e. to the amendment of tight integration clock bias model original state.
In one embodiment, inertial navigation system 120 is used to the position of satellite, speed based on the received and defends lead receiver
110 position and speed is calculated, and before reckoning obtains pseudorange estimated value and pseudorange rates estimated value, further includes：Inertial navigation system
120 lead the position and speed of receiver 110 and carry out initial setting up and initial right to inertial navigation system for defending based on the received
It is quasi-.
Specifically, the judgment criterion whether completed generally according to different application scene selection alignment methods and alignment, at this
The method (in the automotive environment) that dynamic alignment is used in embodiment, i.e., ought defend and lead continuous positioning, and carrier movement speed is more than pre-
If after threshold values, calculating carrier movement course using the speed for leading output is defended, effectively improving accuracy, the initial posture that is aligned is by following formula
Approximation provides：
γ=0
θ=0
Wherein, γ, θ,Respectively indicate roll angle, pitch angle and course angle, vN、vERespectively east northeast under coordinate system
North orientation and east orientation speed.
Above-mentioned to defend used tight integration clock deviation update the system, compatibility is defended to lead the positioning of receiver 110 and defend used tight integration and be positioned, system
Can both tight integration have been used as a result, receiver can also be used as a result, tight integration clock deviation is corrected with receiver clock-offsets, tight by exporting result
Receiver adjusts clock deviation and correction model in real time in combination realization, can reduce the requirement to receiver crystal oscillator precision, go through each
Member is corrected tight integration clock deviation, effectively increases navigation accuracy, and tight integration navigation system supports real-time navigation data
Processing and Data Post, have expanded the application scenarios of navigation system.
In one embodiment, as shown in Fig. 2, one kind defends used tight integration clock deviation modification method, include the following steps：
Step S110：It defends and leads receiver and receive satellite-signal, and handled to obtain satellite to satellite-signal and connected with defending
The position and speed of pseudorange, pseudorange rates, satellite between receipts machine.
Step S120：Defend and lead receiver and carry out PVT resolving according to pseudorange and pseudorange rates, obtain defending the position for leading receiver,
Speed, clock deviation and clock drift adjust current clock deviation according to clock deviation and clock drift, obtain practical adjustment clock deviation.In the present embodiment, in step
After rapid S110, before step S120, further include：The number of satellite for obtaining connection, when number of satellite is greater than or equal to default threshold
When value, then return step S120；When number of satellite is less than preset threshold, then return step S110.
Step S130：It defends to lead receiver and be sent to pseudorange, pseudorange rates and practical adjustment clock deviation and defends used tight integration clock deviation and repair
Equipment, by the position of satellite, speed and defend the position for leading receiver, speed is sent to inertial navigation system.
Step S140：Inertial navigation system receives the position of satellite, speed and defends the position and speed for leading receiver, and according to connecing
Defending of receiving is led the position and speed of receiver and is calculated, and reckoning obtains pseudorange estimated value and pseudorange rates estimated value.In this implementation
In example, include before step S140：Inertial navigation system defends the position and speed for leading receiver to inertial navigation system based on the received
Carry out initial setting up and initial alignment.
Step S150：Inertial navigation system resolves to obtain position, speed and the posture information of inertial navigation system by strapdown, and will be pseudo-
It is sent to away from estimated value, the position of pseudorange rates estimated value and inertial navigation system, speed and posture information and defends used tight integration clock deviation amendment
Device.
Step S160：Defend used tight integration clock deviation correcting device pseudorange, pseudorange rates, practical adjustment clock deviation, puppet based on the received
The amendment of tight integration clock deviation is carried out to the position of inertial navigation system, speed and posture information away from estimated value and pseudorange rates estimated value, is obtained
The revised position of inertial navigation system, speed and posture information simultaneously export.In the present embodiment, step S160 include step 162 and
Step 164.
Step 162：Tight group is carried out according to pseudorange, pseudorange rates, practical adjustment clock deviation, pseudorange estimated value and pseudorange rates estimated value
Filtering is closed, the error of inertial navigation system is calculated.In the present embodiment, step 162 includes step 1622 to step 1626.
Step 1622：Obtain the current time clock deviation of clock bias model prediction.
Step 1624：Current time clock deviation is calculated according to the current time clock deviation of clock bias model prediction and practical adjustment clock deviation
Predicted value.
Step 1626：According to current time clock deviation predicted value pseudorange, pseudorange rates, pseudorange estimated value and pseudorange rates estimated value into
The filtering of row tight integration, is calculated the error of inertial navigation system.
Step 164：The position of inertial navigation system, speed and posture information are carried out according to the error of inertial navigation system
Amendment, obtains the revised position of inertial navigation system, speed and posture information and exports.
In a more detailed embodiment, satellite-signal is received as shown in figure 3, defending and leading receiver, and to received
Satellite-signal is handled, and the pseudorange and pseudorange rates of satellite is calculated；The pseudorange of satellite and pseudorange rates as observed quantity, according to
Relationship between the position of observed quantity and receiver, speed, clock deviation and clock drift carries out PVT resolving, i.e., when satellite number is more than or equal to 4
When, it is calculated using the method for (weighting) least square method or filtering and defends the position for leading receiver, speed, clock deviation and clock
Drift；According to clock deviation and the clock drift being calculated, correspondingly shifts to an earlier date or postpones local zone time, as adjust the clock deviation of receiver,
Corresponding local Pseudolite signal is generated with this, completes the lasting tracking to satellite-signal；Judge whether inertial navigation system is aligned, if
It is aligned, then directly carry out strapdown resolving, if being not aligned with, with defend the position for leading receiver, speed to inertial navigation system into
Row initial setting up, then inertial navigation system carries out initial alignment and strapdown resolves, and position, speed and the posture letter of carrier is calculated
Breath；In integrated navigation part, using Kalman filtering algorithm, during realization, according to the error propagation model of inertial navigation and
Random walk model usually can be used in the dynamic model of the state equation of the Dynamic Model system of clock deviation clock drift, the drift of clock deviation clock
Or single order Markov model；Observational equation is established according to the relationship between observed quantity and quantity of state.In general, the resolving of inertial navigation
Frequency, which is relatively defended, to be led PVT to resolve frequency high, is led PVT in filtering and is resolved the period as system filter cycle estimator using defending,
The inertial reference calculation period is as system filter predetermined period.It is connected in each epoch with defending to lead satellite that receiver tracking obtains and defend
Pseudorange, pseudorange rates between receipts machine, the pseudorange estimated value calculated with inertial navigation, pseudorange rates estimated value work are poor, as tight integration filtering
Observed quantity is floated model (such as random walk model or single order Markov model) prediction according to clock deviation clock with tight integration and is worked as
The clock deviation at preceding moment, subtracting an epoch defends and leads the practical clock deviation amount adjusted of receiver, just obtains the clock at tight integration current time
Poor predicted value.At this point, the satellite and defending that inertial navigation calculates leads the distance between receiver along with tropospheric error, ionospheric error
With clock deviation predicted value, lead that the physical meaning that the pseudorange that receiver tracking obtains characterized is just consistent, and the two subtracts each other to obtain with defending
Pseudorange difference be just suitable as the observed quantity of Kalman filtering；After tight integration filters, estimation obtains the error of inertial navigation, including
Location error, velocity error and attitude error, and the position of feedback modifiers inertial navigation, speed and posture and export, because inertial navigation is peace
On carrier, Gu the last position of inertial navigation, speed are consistent with posture with the final position of carrier, speed and the value of posture
's.
Above-mentioned to defend used tight integration clock deviation modification method, compatible defend leads receiver positioning and defends used tight integration positioning, and output is tied
Fruit can both use tight integration as a result, receiver can also be used as a result, correcting tight integration clock deviation with receiver clock-offsets, in tight integration reality
Receiver adjusts clock deviation and correction model in real time in existing, the requirement to receiver crystal oscillator precision can be reduced, in each epoch to tight
Combination clock deviation is corrected, and is effectively increased navigation accuracy, and support real-time navigation data processing and Data Post, is expanded
The application scenarios of navigation system.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. one kind defends used tight integration clock deviation update the system, which is characterized in that be used to tight group including defending to lead receiver, inertial navigation system and defend
Close clock deviation correcting device, described defend leads receiver and connect the inertial navigation system and described defend used tight integration clock deviation correcting device, institute
It states and defends used tight integration clock deviation correcting device described in inertial navigation system connection,
Described defend leads receiver for receiving satellite-signal, and is handled to obtain satellite and defend to the satellite-signal to connect receipts
The position and speed of pseudorange, pseudorange rates, satellite between machine；PVT resolving is carried out according to the pseudorange and the pseudorange rates, is obtained
It is described to defend the position for leading receiver, speed, clock deviation and clock drift；Current clock deviation is adjusted according to the clock deviation and clock drift, is obtained
Practical adjustment clock deviation, and the pseudorange, the pseudorange rates and the practical adjustment clock deviation are sent to and described defend used tight integration clock
Poor correcting device, by the position of the satellite, speed and it is described defend the position for leading receiver, speed is sent to the inertial navigation system
System；
The inertial navigation system is for the position of the satellite based on the received, speed and described defends the position and speed for leading receiver
It is calculated, reckoning obtains pseudorange estimated value and pseudorange rates estimated value；The inertial navigation system resolves to obtain described used by strapdown
Position, speed and the posture information of guiding systems, and by the pseudorange estimated value, the pseudorange rates estimated value and the inertial navigation system
Position, speed and posture information be sent to and described defend used tight integration clock deviation correcting device；
It is described to defend used tight integration clock deviation correcting device for the pseudorange based on the received, the pseudorange rates, the practical adjustment
Clock deviation, the pseudorange estimated value and the pseudorange rates estimated value carry out the position of the inertial navigation system, speed and posture information
The amendment of tight integration clock deviation, obtains the revised position of the inertial navigation system, speed and posture information and exports.
2. according to claim 1 defend used tight integration clock deviation update the system, which is characterized in that described to defend used tight integration clock deviation
Correcting device is for the pseudorange based on the received, the pseudorange rates, the practical adjustment clock deviation, the pseudorange estimated value and institute
It states pseudorange rates estimated value and the amendment of tight integration clock deviation is carried out to the position of the inertial navigation system, speed and posture information, obtain described
The revised position of inertial navigation system, speed and posture information simultaneously export, including：
It is described to defend used tight integration clock deviation correcting device for according to the pseudorange, the pseudorange rates, practical the adjustment clock deviation, institute
It states pseudorange estimated value and the pseudorange rates estimated value carries out tight integration filtering, the error of the inertial navigation system is calculated；
It is described to defend used tight integration clock deviation correcting device for the error according to the inertial navigation system to the inertial navigation system
Position, speed and the posture information of system are modified, and obtain the revised position of the inertial navigation system, speed and posture letter
It ceases and exports.
3. according to claim 2 defend used tight integration clock deviation update the system, which is characterized in that described to defend used tight integration clock deviation
Correcting device is used for according to the pseudorange, the pseudorange rates, the practical adjustment clock deviation, the pseudorange estimated value and the pseudorange
Rate estimated value carries out tight integration filtering, and the error of the inertial navigation system is calculated, including：
It is described to defend used tight integration clock deviation correcting device for obtaining the current time clock deviation of clock bias model prediction；
The current time clock deviation and the reality that used tight integration clock deviation correcting device is defended for predicting according to the clock bias model
Border adjusts clock deviation and calculates current time clock deviation predicted value；
It is described defend used tight integration clock deviation correcting device for according to the current time clock deviation predicted value, the pseudorange, pseudorange rates,
The pseudorange estimated value and the pseudorange rates estimated value carry out tight integration filtering, and the mistake of the inertial navigation system is calculated
Difference.
4. according to claim 1 defend used tight integration clock deviation update the system, which is characterized in that described defend is led receiver and be used for
Satellite-signal is received, and the satellite-signal is handled after obtaining the position and speed of pseudorange, pseudorange rates, satellite, root
PVT resolving is carried out according to the pseudorange and the pseudorange rates, obtains described defending the position for leading receiver, speed, clock deviation and clock and floating it
Before, including：
Described defend leads the number of satellite that receiver is used to obtain connection, when the number of satellite is greater than or equal to preset threshold,
PVT resolving is then carried out according to the pseudorange and the pseudorange rates, obtains position, the speed, clock deviation of the satellite navigation receiver
It is floated with clock；
When the number of satellite is less than preset threshold, returns and receive satellite-signal, and the satellite-signal handle
To pseudorange, pseudorange rates, the position and speed of satellite.
5. according to claim 1 defend used tight integration clock deviation update the system, which is characterized in that the inertial navigation system is used for root
It leads the position and speed of receiver according to the position of the received satellite, speed and described defend and is calculated, reckoning obtains pseudorange
Before estimated value and pseudorange rates estimated value, further include：
The inertial navigation system for based on the received it is described defend lead the position and speed of receiver to the inertial navigation system into
Row initial setting up and initial alignment.
6. one kind defends used tight integration clock deviation modification method, which is characterized in that include the following steps：
It defends and leads receiver reception satellite-signal, and the satellite-signal is handled to obtain satellite and defend to lead between receiver
Pseudorange, pseudorange rates, the position and speed of satellite；
Described defend leads receiver and carries out PVT resolving according to the pseudorange and the pseudorange rates, obtains described defending the position for leading receiver
It sets, the drift of speed, clock deviation and clock, current clock deviation is adjusted according to the clock deviation and clock drift, obtains practical adjustment clock deviation；
Described defend leads receiver and is sent to and defends used tight integration clock deviation the pseudorange, the pseudorange rates and the practical adjustment clock deviation
Correcting device, by the position of the satellite, speed and it is described defend the position for leading receiver, speed is sent to inertial navigation system；
The inertial navigation system receive the position of the satellite, speed and it is described defend the position and speed for leading receiver, and according to connecing
Described defend received is led the position and speed of receiver and is calculated, and reckoning obtains pseudorange estimated value and pseudorange rates estimated value；
The inertial navigation system resolves to obtain position, speed and the posture information of the inertial navigation system by strapdown, and by the puppet
Position, speed and posture information away from estimated value, the pseudorange rates estimated value and the inertial navigation system are sent to described defend and are used to tightly
Combine clock deviation correcting device；
It is described defend used tight integration clock deviation correcting device based on the received the pseudorange, the pseudorange rates, the practical adjustment clock deviation,
The pseudorange estimated value and the pseudorange rates estimated value carry out tight integration to the position of the inertial navigation system, speed and posture information
Clock deviation amendment, obtains the revised position of the inertial navigation system, speed and posture information and exports.
7. according to claim 6 defend used tight integration clock deviation modification method, which is characterized in that described to defend used tight integration clock deviation
The pseudorange, the pseudorange rates, the reality adjust clock deviation, the pseudorange estimated value and the puppet to correcting device based on the received
The amendment of tight integration clock deviation is carried out to the position of the inertial navigation system, speed and posture information away from rate estimated value, obtains the inertial navigation
The revised position of system, speed and posture information simultaneously export, including：
According to the pseudorange, the pseudorange rates, the practical adjustment clock deviation, the pseudorange estimated value and the pseudorange rates estimated value
Tight integration filtering is carried out, the error of the inertial navigation system is calculated；
The position of the inertial navigation system, speed and posture information are repaired according to the error of the inertial navigation system
Just, the revised position of the inertial navigation system, speed and posture information are obtained and is exported.
8. according to claim 7 defend used tight integration clock deviation modification method, which is characterized in that described to defend used tight integration clock deviation
Correcting device is estimated according to the pseudorange, the pseudorange rates, the practical adjustment clock deviation, the pseudorange estimated value and the pseudorange rates
The step of evaluation carries out tight integration filtering, and the error of the inertial navigation system is calculated, including：
Obtain the current time clock deviation of clock bias model prediction；
The prediction of current time clock deviation is calculated according to the current time clock deviation of clock bias model prediction and the practical adjustment clock deviation
Value；
Estimated according to the current time clock deviation predicted value, the pseudorange, pseudorange rates, the pseudorange estimated value and the pseudorange rates
Value carries out tight integration filtering, and the error of the inertial navigation system is calculated.
9. according to claim 6 defend used tight integration clock deviation modification method, which is characterized in that described defend leads receiver reception
Satellite-signal, and the satellite-signal is handled after obtaining pseudorange and pseudorange rates, according to the pseudorange and the pseudorange
Rate carries out PVT resolving, obtain it is described defend the position for leading receiver, speed, clock deviation and clock drift before, including：
The number of satellite for obtaining connection is then carried out according to the pseudorange when the number of satellite is greater than or equal to preset threshold
The step of carrying out PVT resolving with the pseudorange rates, obtaining position, speed, clock deviation and the clock drift of the satellite navigation receiver；
When the number of satellite is less than preset threshold, then reception satellite-signal is returned to, and handle the satellite-signal
The step of obtaining pseudorange and pseudorange rates.
10. according to claim 6 defend used tight integration clock deviation modification method, which is characterized in that the inertial navigation system according to
The position of the received satellite, speed and described defend are led the position and speed of receiver and are calculated, and reckoning obtains pseudorange and estimates
Before evaluation and pseudorange rates estimated value, further include：
The inertial navigation system based on the received lead the position and speed of receiver and carry out just to the inertial navigation system by described defend
Begin to be arranged and initially be aligned.
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