The Research Of GNSS Receiver And Inertial Navigation System Deeply Coupled Technology

Since the widespread use of the Global Positioning System (GPS), GlobalNavigation Satellite System (GNSS) is already very mature and become a mainnavigation technology direction, but it does not provide users with continuous positionand velocity information, vulnerability shielding and outside interference and othershort comings limit the application, and the separate Inertial Navigation System (INS)has a defect that the error rapid accumulated over time. Therefore, GNSS/INS integratednavigation system which has the feature that supply each other’s gap has attracted theresearchers, including the research of GNSS receivers and inertial navigation deeplycoupled system has become the hot point of navigation research domain.In this paper, first, we described the history and current status of GNSS/INS deeplycoupled system, then introduced the structure of the GNSS/INS deeply coupled system,mainly analyzed the characteristics, advantages and disadvantages of the deeply coupledsystem, and advanced two key issues of the research about GNSS receiver and INS deepcoupling technology: deeply coupled tracking loop and information fusion algorithm indeeply coupled system.Secondly, in consideration of the conventional deeply coupled tracking loop hascommon high dynamic performance and weak signal performance as well as the vectordeeply coupled tracking loop need high cost and the application limited, this paperadvanced a semi-vector deeply coupled tracking loop, the structure has more higherdynamic performance and more weaker signal performance than the conventionaldeeply coupled tracking loop, and reduced the implementation cost compared with thevector deeply coupled tracking loop.Thirdly, the thesis analysed information fusion algorithm in the deeply coupledsystem, revealed the problems that nonlinear system model, imprecise modeling,unknown statistics characteristics noise and a rounding error in the calculation processlead to filtering divergence, and based a fuzzy adaptive strong tracking square rootunscented kalman filter algorithm on fuzzy adaptive strong tracking extended kalmanfilter algorithm, the new algorithm improved the accuracy and reliability of the deeplycoupled system.Finally, in order to research deeply on tracking loop and information fusion algorithm, we designed and build a GNSS/INS deeply coupled system, the systemwhich can simulate the data generation and processing of the entire deeply coupledsystem, also able to handle real data collected，provided the basis for the followingstudy.