双天线GNSS接收机和MEMS IMU嵌入其中一根天线的集成导航系统

2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2019-05-01 DOI:10.23919/ICINS.2019.8769371

N. Vasilyuk, M. Vorobiev, D. Tokarev

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引用次数: 1

摘要

描述了一种用于确定车辆位置、速度和姿态的组合导航系统。该系统由一个双天线GNSS接收机和一个嵌入在两个天线中的微机电惯性测量单元组成。双天线GNSS接收机只测量三个姿态角中的两个，它们是从载波信号的总相位的小数部分计算出来的，没有解决整数模糊。惯性测量由位于其中一个天线内靠近其相位中心的惯性测量单元执行。测量结果通过射频电缆与该天线接收到的GNSS信号一起传输到GNSS接收器。根据“松耦合”方法，利用扩展卡尔曼滤波将惯性测量与GNSS测量的位置、速度和两个姿态角结合起来。介绍了集成系统各部件的工作原理。给出了该系统在不同类型车辆和不同环境条件下的试验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Integrated Navigation System with a Dual-Antenna GNSS Receiver and a MEMS IMU Embedded into One of the Two Antennas

The integrated navigation system for determining the position, velocity and attitude of a vehicle is described. This system consists of a dual-antenna GNSS receiver and a microelectromechanical inertial measurement unit embedded into one of two antennas. The dual-antenna GNSS receiver measures only two of the three attitude angles, which are calculated from the fractional parts of the total phases of the carrier signal without resolution of integer ambiguities. Inertial measurements are performed by the inertial measurement unit located inside one of the antennas near its phase center. The measurements are transmitted to the GNSS receiver via the radio frequency cable, together with the GNSS signal received by that antenna. Inertial measurements are combined with the GNSS measurements of the position, velocity, and two attitude angles using the Extended Kalman Filter according to the “loose coupling” approach. Operation principles of individual components of the integrated system are described. The results of the experiments with this system-carried out on various types of vehicles and under various environment conditions are presented.

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2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)

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