基于GNSS/INS联合仿真的组合导航终端测试方法研究

为解决GNSS/INS组合导航终端动态定位性能的实验室测试问题，本文在转台惯性仿真测试和卫星导航仿真测试技术的基础上，提出了GNSS/INS联合仿真两步法，即先通过惯性传感器实物测试获得其特征误差模型，再使用测试场景中载体初始条件和轨迹数据驱动该误差模型产生惯性传感器的模拟输出数据流，最后同步GNSS信号仿真的方法实现GNSS/INS联合仿真的过程。仿真测试结果与外场实测对比后，证明该方法获得的测试数据准确度满足预期指标、结果可靠，而且比其他传统测试方法的成本低、效率高。

Research on test method of integrated navigation terminal based on GNSS/INS joint simulation

To solve the laboratory test problem of dynamic positioning performance of GNSS/INS integrated navigation terminal, this paper proposes a two-step method of GNSS / INS joint simulation based on the turntable inertial simulation test and satellite navigation simulation test technology. First the characteristic error model through the physical measurement of inertial sensor was obtained, and then the model was drived by using the carrier initial conditions and track data in the test scene to generate the analog output data stream of inertial sensor, and finally the GNSS signal simulation was synchronized to realize the process of GNSS / INS joint simulation. After compared with the field measurement, the simulation test results prove that the accuracy of the test data obtained by this method meets the expected indicators, the results are reliable, and the cost is lower and the efficiency is higher than other traditional test methods.