附加自适应短时高程变化率约束的PPP/INS紧组合增强模型
PPP/INS tightly integrated enhancement model considering adaptive short-term height variation rate constraint
程建华 1陈思成 1臧楠 1程思翔 1赵国晶 1马子凡1
作者信息
- 1. 哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨 150000
- 折叠
摘要
卫星信号在城市高遮挡环境下受复杂干扰引起的质量下降甚至中断问题,常引发精密单点定位/惯性导航系统(PPP/INS)紧组合导航误差发散.基于常值高程假设提出的传统高程约束模型虽可有效抑制平缓路面下惯性导航系统的误差累积,但因其无法合理地适应路面高程变化而难以增强高遮挡环境下的PPP/INS紧组合模型.本文顾及载体运动中短时高程变化率相近的特性,提出一种自适应短时高程变化率的高程约束PPP/INS紧组合模型.采用模拟的遮挡环境和真实的城市环境下的车载试验验证本文模型有效性.在真实城市环境试验中,相比于无约束、顾及高程变化定权的高程常值约束、历元间高程常值约束3种PPP/INS紧组合模型,本文模型在高程方向上定位精度分别提升52.2％、49.2％、70.9％.
Abstract
The GNSS signal suffers from quality degradation or outages due to blockages in the urban environment,leading to the error divergence of precise point positioning(PPP)/inertial navigation system(INS)tightly coupled system.Although the traditional height constraint models based on the constant height hypothesis can effectively suppress INS error accumulation un-der flat surface,it is difficult to enhance the PPP/INS tightly coupled model because of unadapting the change of surface under the high occlusion environment.In this paper,considering the similar characteristic of short-term height variation rate during vehicle experiment,an adaptive short-term height variation rate constraint(ASTHVRC)model of PPP/INS tightly coupled system is proposed.The effectiveness of the proposed model is verified by both simulated occlusive environment and real urban environment.In the real urban environment,comparing with the height constraint-free(HCF),the height rate-weighted con-stant height constraint(HRWHC)and the inter-epoch constant height constraint(ICHC),the results show that ASTHVRC model improves the accuracy of PPP/INS tightly coupled height solution by 52.2％,49.2％,70.9％,respectively.
关键词
PPP/INS/顾及短时高程变化率约束/高程约束随机模型/卫星信号中断Key words
PPP/INS/adaptive short-term height variation rate constraint/stochastic model of height constraint/satellite out-age引用本文复制引用
基金项目
国家自然科学基金(42204035)
黑龙江省省重点研发计划(JD2023SJ09)
国家重点研发计划(2021YFB3901300)
出版年
2024
NETL
NSTL
万方数据