Research On High Precision Integrated GPS/INS Navigation System Based On Carrier Phase

With the continuous development and broad application of the aircraft, the usual integrated GPS/INS navigation system couldn't meet the demand of high precision such as airplane precision approach, spacecraft docking technique and strategic and tactical weapon precision guided. This dissertation has mainly developed research work on improve the real-time position accuracy of the integrated navigation system.Firstly, a scheme of high precision integrated GPS/INS navigation system based on single frequency carrier phase is proposed in the dissertation. It could observe directly and compensate INS position error by using the high precision double-differenced GPS carrier phase measurements. In order to resolve the cycle-slip of GPS carrier phase measurements, a fast algorithm is put forward to repair cycle slips and solve integer ambiguities renewedly by using the high precision position from integrated navigation system and the characteristics of INS. The result of simulation proves the solution above is feasible.Subsequently, in order to meet the demand of high precision on the long-baseline, a scheme of high precision integrated navigation system based on dual frequency carrier phase is proposed in this dissertation. It could eliminate the ionosphere error caused by the long-baseline through proper transformation. A method of QR decomposition algorithm which could eliminate the unknown position vector is used to resolve integer ambiguities of dual frequency carrier phase measurements by the high precision information of INS and dual frequency carrier phase observations. This solution has also proved its feasibility by the simulation.On the other side, in the situation when the noise characterstic is uncertain, a compensation model of H∞robust filter is proposed to ensure the robustness and the position precision of the integrated system. A comparison between the given model and the Kalman filter model is drawn through dynamic simulation under the same condition, showing that the given model, which has better precision and excellent robustness, is of good value in the application of pratical projects.