A carrier loop error compensation method for GNSS/SINS deep integration under high dynamics

Abstract

When vehicles work in high dynamic motion, SINS will carry more errors into the GNSS receiver carrier switching for system based on the deep combination of GNSS/SINS. It causes the receiver to lose the loop lock and work in an abnormal state. This paper analyzes the error source of the receiver and deduces the error transmission model of SINS speed auxiliary carrier ring under high dynamic conditions. Then, a method of SINS speed and acceleration aided compensation for carrier loop error is proposed to improve the maximum acceleration range that the carrier loop can bear. The simulation experiment analysis proves that this method is effective, and the maximum acceleration of the carrier can be increased by 4.5g-9g in satellite tracking in different line-of-sight directions.