Study on GNSS/SINS tightly coupled star selection algorithm
By analyzing the existing problems of the minimum GDOP method in the tightly coupled navigation system of Global Navigation Satellite System(GNSS)and Strap-down Inertial Navigation System(SINS),this paper proposes an improved GNSS/SINS tightly coupled star selection algorithm.The main steps of the algorithm include:firstly,the visible satellites are detected by pseudo-range outliers and the outlier satellites are eliminated;then,according to the distribution characteristics of the satellites,the largest one is selected as the zenith star by using the satellite altitude angle information,and finally,the remaining visible satellites are randomly combined to select three satellites and the zenith star to form four satellites,so as to get the final star selection scheme.After simulation comparison with the minimum GDOP method,the calculation of this algorithm is significantly reduced,and under the premise of guar-anteeing the positioning accuracy,it reduces the number of satellites calculated,reduces the amount of arithmetic,and has a better ef-fect of star selection.
国家科技期刊平台
NSTL
万方数据
维普
