Research On GNSS/SINS Tightly Coupled Integration Approach With Receiver Autonomous Integrity Monitoring

Taking the landing guidance of the aircraft as the background,taking the GPS/INS integrated navigation system and receiver autonomous integrity monitoring algorithm as the research object,and aiming to meet the needs of high accuracy and integrity monitoring of GPS/INS integrated navigation,this dissertation focuses on tightly coupled integration which includes carrier phase measurements and fault exclusion algorithm.Aiming to meet the requirements of high precision integrated navigation system in the task,this dissertation carries out the research on tightly coupled integration approach using phase-derived position increment(PDPI)measurement and analyses error characteristics of PDPI measurement.For the first time,the precise PDPI measurement is applied in the integrated navigation update process in this dissertation and its error characteristics are minutely analyzed which greatly enhance the speed and position precision of the integrated navigation system.Compared with the conventional time-differenced carrier phase(TDCP)tightly coupled integration,the convergence velocity and precision in this dissertation is better.Due to the fewer measurement equation dimension for PDPI measurement,the computational efficiency is promoted.According to the processing of field data,it can be concluded that,for the PDPI tightly coupled integrated navigation system,the horizontal position error is less than two meters,the speed accuracy is in centimeter level and attitude error is less than one degree,which is able to meet the absolute accuracy requirement of the landing guidance system.Aiming to promote efficiency of fault exclusion,this dissertation proposes the residual-based separation(RBS)algorithm.Taking the accurary promotion of single point positioning as background and aiming to detect and exclude the faults in pseudorange,statistics and threshold are constructed with least squares(LSE)method in this dissertation.In order to ensure the configuration of satellites meeting the integrity monitoring requirements,positioning error protection level is evaluated firstly.Then,according to drawback of the conventional data snooping method which can only be used for single fault,this dissertation proposes a fault exclusion algorithm named RBS,which can not only accurately exclude faults in pseudorange measurement,but also be suitable for multiple faults.Finally,the measured data are processed to verify the superiority and effectiveness of the residual-based separation method compared with the traditional data snooping method.In order to meet the requirements of integrity monitoring on aircraft landing guidance,this dissertation realizes the application of autonomous integrity monitoring method in integrated navigation system and verifies the effectiveness and generality.Aiming to ensure the integrity of integration navigation,this dissertation completes integrity monitoring scheme design for tightly coupled integrated navigation system.What's more,imitating the detection and exclusion algorithm on pseudorange faults,the detection and exclusion algorithm for Doppler and carrier phase measurements is proposed.Then the performance of RBS in dealing with multiple faults is verified by adding faults in two pseudorange measurements.Finally,by adding faults of three types in a set of field data,the effect of faults on the accuracy of integrated navigation system and the efficiency of RBS is verified.With the gradual increase of our navy aircraft carrier platform and the Beidou global navigation satellites,GNSS/SINS tightly coupled integration system with receiver autonomous integrity monitoring will play an increasingly important role in the landing guidance area.The research in this dissertation can provide technical support for realization of secure landing for aircraft in complex environment and provide a theoretical basis for automatic landing system based on Beidou satellite navigation system.