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传统的惯性/卫星紧耦合组合导航系统使用卫星伪距/伪距率作为量测,卫星伪距率一般可以提供厘米/秒级精度的速度信息;而载波相位时间差分观测量可以达到毫米级精度且无需参考接收机。本文分析了载波相位时间差分的原理,并将其应用到惯性/卫星组合导航系统中;在滤波器的设计中使用状态延迟滤波法处理载波相位时间差分观测量,使惯性/卫星组合导航系统达到了较高的速度精度。
Conventional inertial / satellite tightly coupled integrated navigation systems use satellite pseudoranges / pseudoranges as measurements, and satellite pseudoranges generally provide velocity information at centimeter-second accuracy; carrier-phase time differential observations can achieve millimeter-scale accuracy Without reference to the receiver. In this paper, the principle of carrier phase time difference is analyzed and applied to the inertial / satellite integrated navigation system. The state delay filter is used in the design of the filter to process the carrier phase time differential observation so that the inertial / satellite integrated navigation system achieves A higher speed accuracy.