矢量构架下GNSS/SINS超紧组合基带信号处理与完好性监测技术研究

By deeply integating between internal siganl tracking loop and inertial message, ultra-tight GNSS/SINS integration receiver can obtain the optimal control of tracking loop, also it can enhance the navigation and position performance especially under the weak signal and high dynamic environment. However, it also have some difficult technique questions to be solve, which restricted the technology progress of ultra-tight GNSS/SINS integration. On the one hand, the GNSS signal acquisition under weak and high dynamic environment, the optimal control method of tracking loop, especially for the principle of the vector tracking loop, the high-performance nonlinear filtering method replacing phase discrimination and other basic problem have yet to be further explored. On the other hand, the method of receiver autonomous integrity monitoring for the ultra-tight GNSS/SINS integration receiver based on the vector architecture also should be to solved. Focus on those key scientific challenges of the ultra-tight GNSS/SINS integration receiver, this project will research on the aspects of the method of signal acquisition, the control principle of ultra-tight tracking loop, high performance of non-filtering and the RAIM of vector architecture. Meanwhile, we will construct a test platform of baseband signal processing for experimental verification. Therefore this project has remarkable scientific significance, meanwhile ultra-tight GNSS/SINS integration can be widely used in the field of defense, civil aviation, etc, and has strategic importance and broad application prospects.

GNSS/SINS超紧组合通过惯性信息和接收机内部同相正交信息的深度耦合，实现接收机环路的优化控制，能够大幅提升弱信号高动态等复杂环境下的导航定位性能。但当前超紧组合导航技术的发展还面临一些关键科学难题。一方面，弱信号高动态等恶劣环境下信号捕获、跟踪环路最优化控制尤其是矢量框架下的环路控制机理、以及取代鉴相环节的高性能非线性滤波方法等基础问题还需在理论方法层面有所突破；另一方面针对超紧组合尤其是矢量构架下的接收机自主完好性监测方法还有待深入探究。本项目围绕超紧组合技术所面临的关键科学难题，从高灵敏度快速捕获方法、超紧组合环路控制机理、高性能非线性滤波方法、矢量构架下RAIM方法等方面开展基础理论研究与创新，构建一体化基带信号处理仿真试验平台并进行车载试验，具有显著的科学意义与应用价值。同时GNSS/SINS超紧组合导航能够广泛的应用于国防、民航等领域，具有重要的战略意义和广阔的应用前景。

GNSS/SINS超紧组合通过惯性信息和接收机内部同相正交信息的深度耦合，实现接收机环路的优化控制，能够大幅提升弱信号高动态等复杂环境下的导航定位性能。但当前超紧组合导航技术的发展还面临一些关键科学难题。一方面，弱信号高动态等恶劣环境下信号捕获、跟踪环路最优化控制尤其是矢量框架下的环路控制机理、以及取代鉴相环节的高性能非线性滤波方法等基础问题还需在理论方法层面有所突破；另一方面针对超紧组合尤其是矢量构架下的接收机自主完好性监测方法还有待深入探究。本项目围绕超紧组合技术所面临的关键科学难题，深入研究了稀疏快速傅里叶算法，提出了以稀疏快速傅里叶反变换代替并行码相位搜索捕获中的傅里叶反变换，实现了高动态环境信号快速捕获；运用 M 估计的抗差特性，设计了基于 M 估计的超紧组合接收机 RAIM 粗差探测和剔除算法；提出了集中式卡尔曼滤波矢量跟踪环路结构，建立矢量延迟锁定跟踪方式下的载波相位辅助跟踪环路，实现了矢量接收机的仿真验证与车载测试，建立了矢量跟踪环的进入退出机制，实现载波相位的优化跟踪控制；提出了变分贝叶斯容积卡尔曼滤波方法，并将其应用于跟踪环路预滤波器非线性滤波，采用实际采集数据对各类非线性滤波方法进行了实际测试。最后，课题构建了一体化跟踪环路试验平台，并进行了车载试验验证，相关研究取得了预期的成果。GNSS/SINS超紧组合导航能够广泛的应用于国防、民航、车载等领域，具有重要的战略意义和广阔的应用前景。