分布式GPS/SINS超紧组合架构下的信号处理和信息融合技术研究
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摘要
卫星导航和惯性导航具有互补的优势，二者的组合可以有效地克服GPS信号易受工作环境干扰，以及捷联惯性导航系统（Strapdown Inertial Navigation System，SINS）误差随时间累积的缺点，因此组合GPS/SINS系统被认为是实现连续、实时、精确定位的有效技术途径之一。随着软件接收机技术和组合数据融合技术的发展，GPS和SINS的组合系统历经了松散组合、紧组合和超紧组合三个阶段。与松散组合、紧组合不同，超紧组合系统一改以往仅以SINS为主导的局面，增加了利用SINS信息对GPS信号处理的辅助，即实现GPS的I，Q信号（或GPS信号跟踪参数）和SINS位置、速度之间的信息融合。尤其是分布式的GPS/SINS超紧组合方式，在实现辅助SINS初始对准和误差修正的基础上，应用SINS的输出推算多普勒频移信息，进而辅助接收机的信号捕获和跟踪，使得复杂环境下组合系统具有较强的抗干扰和抗动态能力。
分布形式的超紧组合系统充分利用SINS的位置、速度和GPS信号跟踪参数之间的关系，且易于工程化实现，逐渐成为组合导航领域的研究热点和发展方向。本课题根据组合系统的框架特点，分别对组合的理论基础，惯性信息辅助的信号捕获和跟踪处理，以及组合信息融合等关键技术进行研究。
在对GPS和SINS子系统的工作机理进行数学描述的基础上，分别推导伪距、伪距率，I、Q信号，和位置、速度之间的对应关系，为松散组合、紧组合，以及超紧组合建立完备的理论依据。同时，分析I，Q信号层次的集中式超紧组合框架和SINS辅助接收机跟踪环路的分布式超紧组合框架，并验证了不同超紧组合架构在相同条件下的趋同等价性。根据组合系统的需求，设计了基于GPS射频前端和惯性测量单元（InertialMeasurement Unit，IMU）的数据采集平台。
研究接收机信号捕获技术，考虑其中制约捕获性能的相关因素，提出利用离散小波实现信号捕获预处理的方法，实现兼顾最大化降低数据率和最小化影响信噪比的预处理目的。在基于快速傅里叶变换（Fast Fourier Transformation，FFT）的信号捕获流程中，提出综合利用分裂基算法和素因子算法的优化FFT方法，并将该优化方法应用于信号捕获中的相关运算，进而提高运算效率，适应高动态和高速率的捕获需求。同时，在分析差分相干捕获技术和频率误差修正技术的基础上，提出了综合以上方法的高灵敏度信号捕获方案。引入惯性信息的辅助，分析SINS辅助的GPS接收机信号初始捕获和重捕获的性能。综合测试结果显示引入惯性辅助的差分捕获的信噪比较标准差分提高1dB，频率修正的差分捕获较标准差分提高0.5dB，而标准差分较非相干捕获提高1.5dB。
剖析接收机信号跟踪环路的误差模型和相关控制理论，将载波相位锁定环（PhaseLocked Loop，PLL）近似为PI（Proportion and Integration）控制模型。在验证加入辅助信息能够保证环路稳定的前提下，采用惯性信息和时钟误差信息估计的多普勒频率及其变化率作为引入项，提出增加类微分控制项的SINS辅助接收机载波跟踪环路设计方案。同时，针对辅助信息中存在的随机多普勒误差进行建模，进一步提高多普勒频移估计的准确性，增强辅助环路性能。综合仿真结果表明应用精确信息辅助的接收机可跟踪载噪比更低的信号，同等带宽条件下，在动态适应性和系统稳定性方面显著提高。
信号跟踪环路制约着GPS接收机的工作性能，针对其易受高动态和弱信号等环境干扰的缺陷，借助环路鉴相器、滤波器和跟踪环路参数之间的关系，利用滤波估计方法实现GPS接收机的载波信号跟踪和码信号跟踪，综合数据融合的主滤波器构建了一种基于分布UKF（Unscented Kalman Filter）滤波形式的GPS/SINS超紧组合方案。对其中的跟踪从滤波、数据融合主滤波设计、数据融合算法，以及交互信息辅助等问题进行深入分析。构建相应的仿真系统，测试结果表明所提方案相对于单独GPS子系统在基带信号处理层面上具有更强的抗干扰和抗动态性能，相对于各子系统在数据融合层面上具有更高的定位精度。
There are complementary advantages between satellite navigation and inertial navigation.The integration of them will effectively improve the vulnerability to environmentaldisturbance for satellite signals and overcome the shortage of error accumulated over time forstrapdown inertial navigation system (SINS). Therefore, the coupled system of GPS and SINSis considered as one of the best ways to achieve continuous, real-time and accuratepositioning. With the development of software GPS receiver technology and data fusiontechnology, the integration has three stages, that is, loose integration, tight integration andultra-tight integration. In loose integration and tight integration, SINS with GPS informationaiding take the dominant position, but SINS information is utilized to improve GPS signalprocessing in ultra-tight integration, namely, the data fusion between GPS I-branch, Q-branchsignal (or parameters of signal tracking) and the position and speed of SINS. Especially in thedistributed ultra-tight GPS/SINS system, the GPS information is applied to aid initialalignment and errors correction for SINS; meanwhile, the Doppler shift information obtainedby SINS output is introduced to GPS signal acquisition and tracking loop, which improves thecapabilities to resist the jamming and dynamic in complex environments for the coupledsystem. Distributed ultra-tight GPS/SINS system makes full use of relations between positionand speed for SINS and tracking parameters for GPS, which would be apt to engineeringimplementation and generally be central issue and development direction for couplednavigation areas.
According to the characters of ultra-tight structure, the theoretical basis of the integration,the signal acquisition and tracking with aiding, and data fusion technologies are researchedrepectively in this subject.
On the basis of mathematical derivation for GPS and SINS subsystem, the correspondingrelationships among pseudorange and pseudorangerate, I-branch, Q-branch signals, andposition and speed are established, which will provide the detailed foundations of differentlevels’ integration. Meanwhile, the ultra-tight structures with centralized I-branch, Q-branchsignal fusion and distributed information aiding are analyzed respectively. Then, thetraditional tracking schemes based on phase locked loop (PLL) and delay locked loop (DLL)are alternatived by Kalman filters, and the ultra-tight structure with the form of distributedfilters are constructed. Using the relations between centralized filtering and federated filering,the equivalence of different ultra-tight coupled structures is proved. According to the requirements of coupled navigation system, raw data collection platform based on GPS radiofrequency front-end and inertial measurement unit (IMU) is developed.
The signal acquisition technologies in GPS receivers are researched. Considering therelevant factors constrainting capture performance, the signal pre-processing utilizing discretewavelet is proposed, which will minimize data rate and cause less influence to signal to noiseratio. In the process of GPS signal acquisition based on fast Fourier transformation (FFT),split-radix algorithm and prime factor algorithm are utilized to improve the FFT processing incorrelation operations, which will improve the efficiency of operation and satisfy the needs inhigh dynamic and high data ratio environments. Based on the analysis of differentialcoherention acquisition and frequency error correction, a high sensitive signal acquisitionmethod for weak signal is verified. And then the inertial information is introduced to aid gpssignal initial acquisition and re-acquisition. Test results indicate that signal to noise ratio(SNR) of differential acquisition method with inertial information aiding is1dB higher thanstandard differential acquisition, and SNR of differential acquisition with frequency errorscorrection is0.5dB higher than standard differential acquisition. Compared with the standarddifferential acquisition, the SNR is1.5dB higher than non-coherent acquisition.
The error models and related control theories of signal tracking loops in GPS receiver areanalyzed, and the carrier tracking PLL is approximated to the form of proportion andintegratio (PI) control. With the verification of loop stability in auxiliary information exsiting,the inertial information and clock error information are utilized to estimate the Dopplerfrequency shift and futherly a GPS carrier tracking aiding method is proposed with the formof different control item. Meanwhile, aiming at the random Doppler modeling errors inauxiliary information estimation, auto regressive and moving average (ARMA) model isutilized in Doppler frequency accuracy estimation to enhance the tracking performance.Simulation results indicate that the signal with lower SNR could be tracked in the receiverswith accuracy information aiding. Under the condition of same bandwidth, the dynamicadaptability and system stability could be improved significantly.
The performance of GPS receiver is affected by tracking loop in high dynamic and weaksignal environments. By means of the corresponding relations between PLL, DLL andtracking parameters, utilize the optimal estimation theories to achieve the carrier tracking inGPS receiver. Considering the data fusion filter, an ultra-tight GPS/SINS coupled methodbased on distributed unscented Kalman filters (UKF) is designed. Futher analyze the trackingloop filter, the data fusion filter and the interactive information correction. To construct thecorresponding integrated structure, simulation results indicate that the performance of proposed scheme is significant in both signal processing level and navigation informationfusion level.
分布形式的超紧组合系统充分利用SINS的位置、速度和GPS信号跟踪参数之间的关系，且易于工程化实现，逐渐成为组合导航领域的研究热点和发展方向。本课题根据组合系统的框架特点，分别对组合的理论基础，惯性信息辅助的信号捕获和跟踪处理，以及组合信息融合等关键技术进行研究。
在对GPS和SINS子系统的工作机理进行数学描述的基础上，分别推导伪距、伪距率，I、Q信号，和位置、速度之间的对应关系，为松散组合、紧组合，以及超紧组合建立完备的理论依据。同时，分析I，Q信号层次的集中式超紧组合框架和SINS辅助接收机跟踪环路的分布式超紧组合框架，并验证了不同超紧组合架构在相同条件下的趋同等价性。根据组合系统的需求，设计了基于GPS射频前端和惯性测量单元（InertialMeasurement Unit，IMU）的数据采集平台。
研究接收机信号捕获技术，考虑其中制约捕获性能的相关因素，提出利用离散小波实现信号捕获预处理的方法，实现兼顾最大化降低数据率和最小化影响信噪比的预处理目的。在基于快速傅里叶变换（Fast Fourier Transformation，FFT）的信号捕获流程中，提出综合利用分裂基算法和素因子算法的优化FFT方法，并将该优化方法应用于信号捕获中的相关运算，进而提高运算效率，适应高动态和高速率的捕获需求。同时，在分析差分相干捕获技术和频率误差修正技术的基础上，提出了综合以上方法的高灵敏度信号捕获方案。引入惯性信息的辅助，分析SINS辅助的GPS接收机信号初始捕获和重捕获的性能。综合测试结果显示引入惯性辅助的差分捕获的信噪比较标准差分提高1dB，频率修正的差分捕获较标准差分提高0.5dB，而标准差分较非相干捕获提高1.5dB。
剖析接收机信号跟踪环路的误差模型和相关控制理论，将载波相位锁定环（PhaseLocked Loop，PLL）近似为PI（Proportion and Integration）控制模型。在验证加入辅助信息能够保证环路稳定的前提下，采用惯性信息和时钟误差信息估计的多普勒频率及其变化率作为引入项，提出增加类微分控制项的SINS辅助接收机载波跟踪环路设计方案。同时，针对辅助信息中存在的随机多普勒误差进行建模，进一步提高多普勒频移估计的准确性，增强辅助环路性能。综合仿真结果表明应用精确信息辅助的接收机可跟踪载噪比更低的信号，同等带宽条件下，在动态适应性和系统稳定性方面显著提高。
信号跟踪环路制约着GPS接收机的工作性能，针对其易受高动态和弱信号等环境干扰的缺陷，借助环路鉴相器、滤波器和跟踪环路参数之间的关系，利用滤波估计方法实现GPS接收机的载波信号跟踪和码信号跟踪，综合数据融合的主滤波器构建了一种基于分布UKF（Unscented Kalman Filter）滤波形式的GPS/SINS超紧组合方案。对其中的跟踪从滤波、数据融合主滤波设计、数据融合算法，以及交互信息辅助等问题进行深入分析。构建相应的仿真系统，测试结果表明所提方案相对于单独GPS子系统在基带信号处理层面上具有更强的抗干扰和抗动态性能，相对于各子系统在数据融合层面上具有更高的定位精度。
There are complementary advantages between satellite navigation and inertial navigation.The integration of them will effectively improve the vulnerability to environmentaldisturbance for satellite signals and overcome the shortage of error accumulated over time forstrapdown inertial navigation system (SINS). Therefore, the coupled system of GPS and SINSis considered as one of the best ways to achieve continuous, real-time and accuratepositioning. With the development of software GPS receiver technology and data fusiontechnology, the integration has three stages, that is, loose integration, tight integration andultra-tight integration. In loose integration and tight integration, SINS with GPS informationaiding take the dominant position, but SINS information is utilized to improve GPS signalprocessing in ultra-tight integration, namely, the data fusion between GPS I-branch, Q-branchsignal (or parameters of signal tracking) and the position and speed of SINS. Especially in thedistributed ultra-tight GPS/SINS system, the GPS information is applied to aid initialalignment and errors correction for SINS; meanwhile, the Doppler shift information obtainedby SINS output is introduced to GPS signal acquisition and tracking loop, which improves thecapabilities to resist the jamming and dynamic in complex environments for the coupledsystem. Distributed ultra-tight GPS/SINS system makes full use of relations between positionand speed for SINS and tracking parameters for GPS, which would be apt to engineeringimplementation and generally be central issue and development direction for couplednavigation areas.
According to the characters of ultra-tight structure, the theoretical basis of the integration,the signal acquisition and tracking with aiding, and data fusion technologies are researchedrepectively in this subject.
On the basis of mathematical derivation for GPS and SINS subsystem, the correspondingrelationships among pseudorange and pseudorangerate, I-branch, Q-branch signals, andposition and speed are established, which will provide the detailed foundations of differentlevels’ integration. Meanwhile, the ultra-tight structures with centralized I-branch, Q-branchsignal fusion and distributed information aiding are analyzed respectively. Then, thetraditional tracking schemes based on phase locked loop (PLL) and delay locked loop (DLL)are alternatived by Kalman filters, and the ultra-tight structure with the form of distributedfilters are constructed. Using the relations between centralized filtering and federated filering,the equivalence of different ultra-tight coupled structures is proved. According to the requirements of coupled navigation system, raw data collection platform based on GPS radiofrequency front-end and inertial measurement unit (IMU) is developed.
The signal acquisition technologies in GPS receivers are researched. Considering therelevant factors constrainting capture performance, the signal pre-processing utilizing discretewavelet is proposed, which will minimize data rate and cause less influence to signal to noiseratio. In the process of GPS signal acquisition based on fast Fourier transformation (FFT),split-radix algorithm and prime factor algorithm are utilized to improve the FFT processing incorrelation operations, which will improve the efficiency of operation and satisfy the needs inhigh dynamic and high data ratio environments. Based on the analysis of differentialcoherention acquisition and frequency error correction, a high sensitive signal acquisitionmethod for weak signal is verified. And then the inertial information is introduced to aid gpssignal initial acquisition and re-acquisition. Test results indicate that signal to noise ratio(SNR) of differential acquisition method with inertial information aiding is1dB higher thanstandard differential acquisition, and SNR of differential acquisition with frequency errorscorrection is0.5dB higher than standard differential acquisition. Compared with the standarddifferential acquisition, the SNR is1.5dB higher than non-coherent acquisition.
The error models and related control theories of signal tracking loops in GPS receiver areanalyzed, and the carrier tracking PLL is approximated to the form of proportion andintegratio (PI) control. With the verification of loop stability in auxiliary information exsiting,the inertial information and clock error information are utilized to estimate the Dopplerfrequency shift and futherly a GPS carrier tracking aiding method is proposed with the formof different control item. Meanwhile, aiming at the random Doppler modeling errors inauxiliary information estimation, auto regressive and moving average (ARMA) model isutilized in Doppler frequency accuracy estimation to enhance the tracking performance.Simulation results indicate that the signal with lower SNR could be tracked in the receiverswith accuracy information aiding. Under the condition of same bandwidth, the dynamicadaptability and system stability could be improved significantly.
The performance of GPS receiver is affected by tracking loop in high dynamic and weaksignal environments. By means of the corresponding relations between PLL, DLL andtracking parameters, utilize the optimal estimation theories to achieve the carrier tracking inGPS receiver. Considering the data fusion filter, an ultra-tight GPS/SINS coupled methodbased on distributed unscented Kalman filters (UKF) is designed. Futher analyze the trackingloop filter, the data fusion filter and the interactive information correction. To construct thecorresponding integrated structure, simulation results indicate that the performance of proposed scheme is significant in both signal processing level and navigation informationfusion level.
引文
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