Research On Deeply GNSS/SINS Integrated Navigation Algorithm And Filtering Based On Software Receiver

Currently, there are two main navigat ion systems named Inertial Navigat ion System and Global Navigat ion Satellite System, there are advantages on both of them, so they can complement each other. A deep combinat ion of them provides complementary information, which will improve the accuracy and reliability of the navigation system. Therefore, deeply GNSS/SINS integrated technology is of great significance to enhancement of the navigat ion performances, which has become a hotspot in research of navigation. Based on the software receiver, the deeply GNSS/SINS integrated navigat ion system algorithms and filter ing is researched and analyzed, the specific contents are as follows:Firstly, this thesis introduces the background of the integrated navigation technology and its current development at home and abroad, summarizes the research significance and contents. Explorat ion on improving the performance of the deeply GNSS/SINS integrated navigat ion tracking loop is conducted respectively from the discriminator model, preprocessing filter model and the coherent integration. The optimal discriminator model is seclected, based on analyzing the common preprocessing filter model, two new models of the carrier preprocessing, the carrier and code preprocessing are proposed. Under different conditions, research and simulation is conducted inder to verify the suppression on the tracking loop noise through the coherent integration. Hence, this paper establishes the optimal model of tracking loop.Then, this thesis studies the algorithm of the deeply GNSS/SINS integrated navigation system. Based on the analysis of the principle and the model of structure, it studys two kinds of the observation extraction schemes of integrated navigat ion filters, they are based on the subsystem subtraction scheme and based on the loop parameter estimation scheme. The scheme of the pseudorange rate differential observation extraction is modified, which conducts the improvement test and vetificat ion. The thesis researchs the realizat ion of the tracking loop control method of the system. On the basis of traditional control method, it puts forward the new method of the carrier and code loop control. Also, the thesis analyzes the influence of the IMU zero bias stability on the system.Then, this thesis researchs the application of robust adaptive filt ering in deeply GNSS/SINS integrated navigat ion system. Based on the influence of the model abnormal error on the kalman filter, the thesis studies two kinds of the construction of robust adaptive factors, they are based on the correlation value of predicted state and the correlation value of predicted residuals. The simulat ion verificat ion is conduced, which demonstrates that under the condition of high dynamic, the robust adaptive f ilter based on new factors has better performance advantages compared with tradit ional kalman filter.At last, based on the research of the software receiver and the deeply GNSS/SINS integrated navigat ion technology, the simulat ion platform of the deeply GNSS/SINS integrated algor ithms based on Matlab is designed. Then, the system simulation verif ication under under the condition of static and dynamic is conducted. Also, in the existing DSP/FPGA receiver development platform, the verificat ion of the observation extraction schemes of integrated navigation filters is conducted, which proves the feasibility.