论文:2016,Vol:34,Issue(1):98-105
引用本文:
何伟, 廉保旺, 张玲玲. 模糊控制辅助的GNSS/INS深耦合跟踪算法[J]. 西北工业大学学报
He Wei, Lian Baowang, Zhang Lingling. GNSS/INS Ultra-Tightly Integrated Tracking Algorithm Assisted by Fuzzy Control[J]. Northwestern polytechnical university

模糊控制辅助的GNSS/INS深耦合跟踪算法
何伟, 廉保旺, 张玲玲
西北工业大学 电子信息学院, 陕西 西安 710072
摘要:
深耦合跟踪环路在INS的辅助下可以有效提高GNSS接收机在高动态条件下的跟踪性能。但是如果INS模块发生故障,会导致GNSS跟踪环路的失锁或处于误跟踪状态,从而导致整个GNSS系统的发散。针对这种发散问题,在不降低系统动态性能的前提下,提出了一种模糊控制辅助的深耦合跟踪算法,该算法通过动态控制INS实现对GNSS深耦合跟踪的辅助,并建立了相应的切换准则。仿真分析结果表明,该深耦合跟踪算法在不降低GNSS跟踪环路动态性能的前提下,可以有效降低由于INS模块失效对GNSS跟踪环路的影响。同时由于GNSS接收机在INS单元故障的情况下依然可以正常工作,因此可有效地提高整个深耦合系统的鲁棒性。
关键词:    模糊控制    组合导航    深耦合系统    鲁棒性   
GNSS/INS Ultra-Tightly Integrated Tracking Algorithm Assisted by Fuzzy Control
He Wei, Lian Baowang, Zhang Lingling
Department of Electronics Engineering, Northwestern Polytechnical University, Xi'an 710072, China
Abstract:
Ultra-Tightly integrated tracking loop aided by INS can effectively improve the tracking performance of GNSS receivers under high dynamic conditions. However, in the event of INS faults, it will lead to loss of lock in the GNSS tracking loop or an error tracking statement, resulting in the divergence of the GNSS system. In view of the divergence problem, we present a high robustness GNSS/INS ultra-tightly integrated tracking algorithm based on Fuzzy Control. On the premise of not decreasing the dynamic performance of the system, we dynamically control the aid of the INS to the deeply coupled GNSS tracking loop, and establish the corresponding switching criteria. Simulation results show that the presented ultra-tightly integrated algorithm can effectively reduce the influence resulting from the faults of the INS module without decreasing the dynamic performance of the GNSS tracking loop. At the same time, as the GNSS receiver can still work properly in case of failure of the INS module, the robustness of the whole ultra-tightly integrated system has been improved effectively.
Key words:    acceleration    algorithms    calculations    calibration    computer simulation    controllers    data fusion    Doppler effect    efficiency    errors    estimation    flowcharting    fuzzy control    fuzzy rules    matrix algebra    membership functions    navigation    optimization    probability    robustness(control systems)    sensors    signal receivers    switching frequency    target tracking    vectors    velocity    integrated navigation system    ultra-tightly integrated   
收稿日期: 2015-09-29     修回日期:
DOI:
基金项目: 陕西省科技统筹创新工程重点实验室项目(2013SZS15-K01)资助
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作者简介: 何伟(1988-),西北工业大学博士研究生,主要从事卫星导航与组合导航系统研究。
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