载波相位差分GPS_INS紧组合导航系统(英文).pdf

Tightly Coupled GPS/INS Integration for Differential Carrier Phase Navigation Systems Using Decentralized Estimation Steven E. Langel, Samer M. Khanafseh, Fang-Cheng Chan, and Boris S. Pervan Illinois Institute of Technology, Chicago, IL ABSTRACT application of the decentralized differential filter, an aircraft executing a figure eight flight maneuver, is Much research has been conducted in the area of tightly specifically considered in this analysis for quantitative coupled GPS/INS, and this work has resulted in a vast performance comparisons. array of navigation algorithms. A common theme of these methods is that they operate on low rate GPS INTRODUCTION ranging measurements of code and carrier phase together with high rate raw inertial measurements, such as specific The integration of GPS and inertial sensors has been force and inertial angular velocity. For stand-alone (i.e., exploited in many areas of navigation research, especially non-differential) GPS navigation applications, high data situations involving periods of satellite blockage. The rate INS outputs can be properly accommodated with ability of the inertial navigation system to coast through today’s computer processors. For relative (i.e., periods of GPS unavailability can result in robust differential) GPS navigation applications, the optimal navigation algorithms