一种基于矢量跟踪的GPS/INS 深耦合跟踪环路设计

针对 GPS 与 INS 两路数据更新频率不一致的问题,提出一种基于矢量跟踪的 GPS/INS 深耦合跟踪环路设计方法.利用滤波外推与CIC滤波相结合的方法,将误差修正后惯导信息回馈到各矢量信号跟踪信道,以调控伪码和载波数控振荡器(controlled oscillator,NCO),实现了跟踪环路的闭合,最终建立起了两路相互独立数据之间相互辅助、相互修正的关系.仿真实验结果表明,设计的GPS/INS深耦合跟踪环路能实现低载噪比和高动态信号的跟踪.

A Design of Tracking Loop in GPS/INS Deep Integrated Navigation Based on Vector Tracking

Aiming at the problem of the GPS and INS date for two-way update frequency inconsistent, put forwards a design of tracking loop in GPS/INS deep integrated navigation based on vector tracking. The method of combining the filtering extrapolation with the CIC filter, error correction after the ins information feedback to track the channel vector signal, to control code and the carrier number controlled oscillator (NCO) and to realize the closed loop tracking, finally set up the relationship between the data of two independent of each other mutual assistance and mutual correction. The simulation experiment results show that the design of the GPS/INS deep coupling tracking loop can achieve low noise ratio and high dynamic signal.