高动态复杂电磁环境下INS辅助GNSS矢量跟踪机理研究

The INS-aided GNSS vector tracking has been confirmed to own significant advantages on enhancing the anti-jamming ability of GNSS by improving the tracking ability of satellite signal. However, the research on method of the stability analysis of vector tracking loop is insufficient, and the effective criterion of the loss of lock is imminently needed. In this project, the navigation system of spinning guided weapons with large acceleration under signal fading environment is taken as subject of study, and the stability of vector tracking loop and the integrity of the INS-aided GNSS are investigated deeply. First of all, considering the nonlinear characteristics of the code tracking loop and carrier tracking loop, the parametric mathematical model of the INS-aided vector tracking loop is constructed. Secondly, the influence of the model parameters on the stability boundary is derived, and the criterion of the loss of lock of the vector tracking loop is established. The advantage of the INS-aided vector tracking loop to the conventional scalar tracking loop is further explored. At last, a method of adaptive vector tracking INS-aided GNSS with low complexity and autonomous integrity monitoring for high dynamic and jamming environments is proposed. During the research process, the analytical results are verified by numerical simulations, hardware-in-loop simulations and vehicle field tests. The achievements of this project have potential to provide a low cost navigation system with high accuracy for the spinning guided weapon with large acceleration under signal fading environment. In a word, the research of this project is very important not only to theoretical progress of the INS-aided GNSS but also to practical applications of the INS-aided GNSS.

INS辅助GNSS矢量跟踪技术在提高卫星信号跟踪能力方面具有明显优势，可增强GNSS的抗干扰能力，但在理论上缺乏矢量跟踪环路的稳定性分析方法和有效的矢量跟踪环路失锁判断准则等。本项目以复杂电磁环境下高动态自旋制导武器的导航系统为背景，围绕INS辅助矢量跟踪环路的稳定性和完好性展开深入研究。主要研究内容包括：（1）在考虑码环和载波环非线性特性的情况下，建立参数化的INS辅助矢量跟踪环路数学模型；（2）研究模型参数对其稳定域的影响规律，建立矢量跟踪环路的失锁判断准则，揭示INS辅助矢量环路优越性的机理；（3）提出一种适用于高动态干扰环境下的具有自主完好性监测的低复杂度的INS辅助GNSS自适应矢量跟踪方法。本项目在研究过程中采用数值计算、半实物仿真和跑车试验等验证理论成果，研究成果有助于解决大过载自旋制导武器在恶劣电磁环境下的低成本高精度导航问题，具有重要的理论意义和广阔的应用前景。

全球卫星导航系统具有成本低、精度高且能够全天候实时提供位置、速度及时间信息的优势，已成为制导武器上不可或缺的导航信息来源。但是，由于卫星信号功率很低，面临着弱信号强干扰复杂的恶劣电磁环境，容易受到无意和有意的干扰。INS辅助GNSS矢量跟踪技术在提高卫星信号跟踪能力方面具有明显优势，可增强GNSS的抗干扰能力。本项目以复杂电磁环境下高动态自旋制导武器的导航系统为背景，围绕INS辅助矢量跟踪环路的稳定性和完好性展开了研究。主要研究内容及成果有：（1）建立了参数化的矢量跟踪环路数学模型，给出了矢量跟踪的等效噪声带宽的计算方法；（2）通过噪声带宽建立了矢量跟踪环路与标量跟踪环路的联系，理论上分析了矢量跟踪环路优于标量跟踪环路的机理，研究了模型参数对其稳定域的影响规律，初步给出了矢量跟踪环路的失锁判断条件；（3）设计了一种基于鉴别器的级联滤波型INS辅助GNSS矢量跟踪环路，建立了FLL和DIVFLL误差源数学模型，给出了卫星信号C/N0、载体与卫星视线矢量以及IMU精度与载波环跟踪误差的关系，进一步验证了在相同条件下相比于传统跟踪环路，INS辅助GNSS矢量跟踪环路具有更好的跟踪性能；(4)设计了一种双卡尔曼滤波信号跟踪环路，提出了一种基于码相位鉴别器输出的新型RAIM算法，适用于高动态干扰环境下的具有自主完好性监测的低复杂度的INS辅助GNSS自适应矢量跟踪方法；（5）构建了INS辅助GNSS矢量跟踪半实物平台，用于INS辅助GNSS矢量跟踪动态仿真实验，在GNSS模拟器中增加了模拟卫星故障的场景可用于自主完好性的相关仿真和评估。本项目在研究过程中采用了数值计算分析、半实物仿真、实际场景测试等方法验证理论成果，研究成果有助于解决大过载自旋制导武器在恶劣电磁环境下的低成本高精度导航问题，具有重要的理论意义和广阔的应用前景。