Интегрированная инерциально-спутниковая система
для высокоманевренных объектов
Б. А. Блажнов1, Г. И. Емельянцев1, Д. А. Кошаев1,
И. В. Семенов1, А. П. Степанов1, В. М. Жилинский2,
А. Н. Коротков1, Е. А. Тимофеев2, Г. С. Цеханович2
1ОАО "Концерн "ЦНИИ "Электроприбор", г. Санкт-Петербург,
2ОАО "Российский институт радионавигации и времени",
г. Санкт-Петербург
Аннотация:
Представлены результаты объектовых испытаний разработанной ОАО "Концерн "ЦНИИ "Электроприбор" и ОАО "Российский институт радионавигации и времени" сильносвязанной инерциально-спут-никовой системы ориентации и навигации на базе блока микромеханических
датчиков и двухантенной приемной аппаратуры сигналов ГЛОНАСС и GPS.
Ключевые слова:
радиоинтерферометрия со сверхдлинными базами, интегрированная инерциально-спутниковая система, высокоманевренные объекты, объектовые испытания, сильносвязанная инерциально-спутниковая система ориентации и навигации, микромеханический датчик, двухантенная приемная аппаратура, ГЛОНАСС, GPS.
Integrated Attitude and Navigation System for Fast Moving Objects
B. A. Blazhnov, G. I. Yemelyantsev, D. A. Koshaev, I. V. Semenov, A. P. Stepanov, V. M. Zhilinsky,
A. N. Korotkov, E. A. Tomofeev,
G. S. Tsehanovich
Abstract:
The paper presents a tightly coupled attitude and navigation system designed by the Concern CSRI Elektropribor, JSC, and the Russian Institute of Radionavigation and Time (RIRT), JSC. The system includes a strapdown inertial unit on micromechanical sensors and a compact GNSS receiver unit (GNSS RU). The double differences of phase measurements from two antennas are used to increase the accuracy in determination of a vehicle's attitude. The test results of field trials are discussed and analyzed. The main results are:
- An operative embodiment of the Integrated Attitude and Navigation System (IANS) which relies on the data from a Strapdown Inertial Measuring Unit (SIMU) on micromechanical sensors and two GLONASS/GPS receivers operating from spaced antennas by the signals from the GLONASS and GPS has been designed and tested. The system has proved its reliable performance in the conditions of shading of part of the GNSS constellation and under interference as well as in the conditions of intensive maneuvering.
- Based on the implemented IANS hardware and software, due to the velocity information introduced to the GNSS receiver unit from the SIMU, it was made possible to reduce the GNSS RU phase locked loops bandwidth from 16 Hz down to 2 Hz (by 8 times), resulting in increase of the GNSS RU noise immunity by 9 dB.
- The IANS built on a tightly coupled principle provides practically continuous use of the raw GNSS data, thus ensuring stable solution of the navigation problem when the vehicle moves in town in the conditions that part of the SV may be shaded and under the effect of strong radio interference.
- Processing of phase measurements in the IANS on a tightly coupled principle with ambiguity resolution based on the data from the SIMU provides effective solution of the attitude problem in the conditions of GNSS RU failures because of SV shading and interference. The solution offered in this paper allows interruptions in receiving phase measurements from the GNSS RU and makes it possible to effectively reject unreliable measurements.