摘要
GPS/SINS松组合采用位置差分法获取实时速度时,其测速精度难以满足快速初始对准及姿态更新的要求。针对此问题,提出一种基于历元间载波相位差分TDCP(Time Differenced Carrier Phase)的速度确定方法,并应用于船舰的SINS实时动态对准。为验证算法的有效性,采集了实测的船载GPS/SINS动态数据,对比了位置差分测速与TDCP测速进行初始对准解算的精度。实验结果表明:位置差分测速精度可达dm/s,TDCP测速精度可达cm/s;基于TDCP测速的初始对准能够快速收敛,其横滚角和俯仰角误差约在0.1°以内,航偏角误差约在1°以内,该方法能使SINS姿态测量保持较高精度。
When GPS/SINS loosely coupled navigation obtains real-time velocity by differenced position method,its accuracy cannot meet the requirement of fast initial alignment and attitude update.To solve this problem,the method of Time Differenced Carrier Phase(TDCP)was proposed and applied to real-time dynamic alignment of ship.In order to validate the effectiveness of the algorithm,the actual observation of shipborne GPS/SINS were collected,and the accuracy of initial alignment calculation was compared between position difference velocity measurement and TDCP velocity measurement.The experimental results show that the accuracy of position difference velocity measurement is at dm/s level and TDCP velocity measurement accuracy can reach cm/s level.The initial alignment based on TDCP velocity measurement can quickly converge,the error of roll angle and pitch angle is within 0.1°,and the error of navigation angle is within 1°.This method can maintain high accuracy of SINS attitude measurement.
作者
石明琛
柴洪洲
尹潇
向民志
杜祯强
SHI Mingchen;CHAI Hongzhou;YIN Xiao;XIANG Minzhi;DU Zhenqiang(Information Engineering University,Zhengzhou 450001,China)
出处
《测绘科学技术学报》
北大核心
2020年第4期344-349,共6页
Journal of Geomatics Science and Technology
关键词
载波相位差分
测速
松组合
SINS对准
船舰姿态
time differenced carrier phase
velocity estimation
loosely coupled
SINS alignment
shipborne attitude
