Research And Implementation Of Vector Tracking Loop Control On Deeply BD/IMU Integrated Navigation System

With the development of the Beidou Satellite Navigation System(BDS), it will be applied in more and more fields. By 2020, Beidou will be a global satellite navigation system. Beidou satellite research is of great significance to the development of China's national defense. The inertial navigation system and satellite navigation system are two main navigation systems, the combination of the two integrated navigation systems will make complementary information. Deep integrated navigation technology and data fusion technology can improve the accuracy and reliability of navigation system. This paper carries out a deep Beidou/inertia combination vector tracking loop control research, and general simulation platform is implemented in the MATLAB platform.Firstly, this paper studies the key technology of Beidou software receiver, including the research of Beidou satellite signal, designs a 6ms parallel code phase trapping method to avoid NH code in efficiency signal capture, analyses the carrier loop and code loop control method, studies how to extract the navigation message from tracking results and demodulating the ephemeris data, calculates the pseudo-range and pseudo-range rate, and completes the positioning and speed of satellite and receiver.Then, on the basis of traditional Beidou receiver tracking loop, this paper studies the Beidou/inertial combination vector tracking model. Firstly, the paper analyses the difference between the vector tracking and scalar tracking loop, explains the principle of the deeply integrated system. Then this paper aims at the content of the four blocks for deeply integrated system: preprocessing filter, observed quantity extraction, integrated navigation filter and tracking loop control, carries out the theory analysis and puts forward the realization method, analyses the inner link between inertial navigation and receiver loop, and verifies the controllable inertial navigation for tracking loop, laying the foundation for follow-up study.On the deeply integrated system of four large contents, this paper focuses on the research of the tracking loop control. Firstly, this paper analyses the coupling relationship between receiver tracking loop and the inertial navigation, and studies the method of using inertial navigation for tracking loop control, the exprtiment shows that the control method is feasible and the estimation is accurate;Then, this paper researches the influence of the inertial navigation error on the tracking loop. Finally, it designs several milliseconds of coherent integral method to improve the loop tracking performance and tracking ability of weak signals.At last, this paper designs the Beidou software receiver and Beidou/inertial deep integrated simulation platform on MATLAB. The functions of the platform are perfect, and the simulation results are correct, it has good reference value.