Research On The Key Technology Of Beidou Receiver's Integrity Based On Inertia Multi-information

Beidou satellite navigation system as China's independent research and development,independent operation of the satellite navigation system,not only the positioning accuracy,system availability and continuity is the hotspot of today's research,its integrity problem has also been increasingly concerned about and research.Beidou navigation system integrity refers to the Beidou navigation system can not be used for navigation services or navigation accuracy beyond a given range,with timely detection of failure and notify the user's ability.At present,in order to meet the needs of integrity,both at home and abroad,whether for the Beidou system local detection or wide area enhancement,or satellite integrity monitoring have carried out in-depth study,but taking into account the tedious technology,the use of high costs and other factors,The current receiver integrity monitoring(RAIM)algorithm is still the most simple and practical Beidou single mode or multi-mode receiver fault detection algorithm.Considering the influence of RAIM algorithm on Beidou satellite observation,it is gradually becoming the main Beidou system fault detection and application program by using inertial navigation and other information to assist the Beidou navigation integrity monitoring method.Based on the working principle of BD/ GPS dual-mode receiver,the paper first analyzes the technical principle of traditional RAIM algorithm.Aiming at the problem that the traditional RAIM algorithm is very high for the multi-mode receiver and the fault detection effect is small,the RAIM method of multimode receiver based on multi-epoch parity vector accumulation is deduced and put forward.By constructing a new parity vector to form a more effective detection statistic,the traditional parity vector method is optimized and the simulation model of the Beidou / GPS dual mode receiver RAIM algorithm is constructed,the simulation results show that the proposed method can improve the detection performance of the traditional RAIM for the slow deviation and shorten the fault detection delay time.Considering the strict requirements of RAIM for satellite redundant observation information in practical use,this paper studies the Beidou navigation fault detection method based on inertial aids,and constructs the adaptive filtering SINS / BD tight combination based on the orthogonality of the new information Navigation system architecture model;On the basis of this,the noise variance is measured according to the dynamic change characteristic of the moving picture in the sliding window to realize the identification and fault isolation of the poor quality pseudorange information in the case of Beidou navigation signal anomaly,and thus improve the whole System adaptability and BD / SINS tightly integrated navigation system fault tolerance.The simulation results show that the BD / SINS adaptive compact combination model can effectively detect the Beidou navigation satellite information fault and improve the system reliability and positioning accuracy.Based on the study of inertia auxiliary Beidou navigation integrity,this paper combined with the actual needs,the introduction of other observation information to further assist the Beidou system integrity.In this paper,the output characteristics of magnetometer and barometric altimeter are analyzed.Based on the BD / SINS tight combination model,this paper proposes to use the information of magnetic information and barometric altitude to compensate for the lack of information on the Beidou satellite measurement information,which can not complete the precise positioning.The system of inertial / Beidou / magnetic sensor multi-information fusion navigation system is constructed.The simulation results show that the multi-information fusion navigation system ensures the continuity of positioning of the Beidou navigation system,and also ensures the accuracy of the whole system positioning in a short time.Based on the inertial multi-information-assisted Beidou navigation integrity detection algorithm,the paper finally designs and constructs the BD / GPS tight combination physical verification environment.Based on the actual equipment such as DSP + FPGA Beidou navigation receiver development platform and MTI-30 flight attitude sensor,the above-mentioned inertial / Beidou integrated navigation and positioning model was established,and the method of detecting and eliminating Beidou fault was obtained.Analysis and verification,so as to study the theoretical content of the engineering application provides a useful reference.