基于矢量可控跟踪环路的惯性/卫星深组合导航关键技术研究

INS/GNSS deep integration technology is an important direction of development of the integrated navigation.Its core exists in the deep coupling integration of inertial system and vector-based controllable tracking loop of satellite receiver.This project is mainly targeted coupling mechanism and filtering methods research of anti-jamming tracking loop of linear feedback satellites in INS / GNSS system.The emphases of this project include state modeling and estimation of digital phase-locked tracking loop which is multi-mode,controlled and high-order,the satellite receiver signal vector robust tracking and signal demodulation mechanism under the condition of inertial information aided non-phase closed-loop conditions.The results can reveal the intrinsic nature of the relationship between carrier's own navigation state information and satellite tracking loop base band signal in INS/GNSS deep integration technology.The research definitely centers on adaptive filtering method based on linear and nonlinear mixed model and anti-jamming performance in high dynamic and weak signal environment.In this project,the breakthrough of vector loop controllability design and highly integrated key technologies with inertial satellite loop can lay the theoretical and algorithmic foundation for high-performance integrated navigation,and it can also make the foundation of resoving autonomous navigation of weapons and equipment supplying the demand of high dynamic, anti-interference, high-precision for navy, army and air force.

惯性/卫星深组合导航技术是组合导航重要发展方向，惯性/卫星深组合导航的核心是惯性系统和卫星接收机矢量可控跟踪环路的深度耦合集成。本项目主要针对惯性/卫星深组合系统中惯性反馈卫星抗干扰跟踪环路耦合机理和滤波方法开展研究，重点研究惯性/卫星深组合系统中卫星接收机多模、被控、高阶跟踪数字锁相环路的状态建模与估计，深组合模式下惯性信息辅助的非鉴相环节闭环条件下卫星接收机信号矢量鲁棒跟踪与信号解调机制，揭示惯性/卫星深组合导航技术中载体自身导航状态信息与卫星跟踪环路基带信号之间内在本质关系，研究基于线性与非线性混合模型的自适应滤波方法，以及高动态、弱信号环境下深组合抗干扰性能等科学问题，旨在突破惯性/卫星深组合导航系统矢量环路可控设计与惯性卫星环路高度集成的关键技术，为高性能组合导航奠定理论和算法基础，促进解决空、天、海、陆高性能武器装备对导航系统高动态、抗干扰、高精度自主导航问题。

本项目结合惯性/卫星组合导航技术的发展趋势，面向我国高性能飞行器对导航系统的高动态、抗干扰、高精度的应用需求，开展基于矢量可控跟踪环路的惯性/卫星深组合导航关键技术研究，重点开展了卫星接收机可控非线性环路建模与矢量跟踪技术研究、惯性/卫星深组合惯性辅助多模可控跟踪环路的耦合机理研究、惯性/卫星深组合矢量环路可控条件下系统建模及滤波方法研究、惯性卫星深组合系统的理论算法实现与机理试验验证技术四个方面的主要研究内容，突破了深组合模式下卫星环路稳定性影响与卫星接收机信号矢量鲁棒跟踪与信号解调机制问题、深组合系统惯性信息品质对环路跟踪性能影响及惯性误差估计及校正问题、微惯性/卫星深组合一体化算法结构设计等关键技术。搭建完成了惯性/北斗卫星深组合导航系统实验平台，并开展了相应的关键技术验证。完成年度研究进展报告4份。在研究期间，申请及授权的国家发明专利10项（其中3项已授权），申请软件著作权3项；发表学术论文14篇（其中SCI期刊论文4篇，EI收录7篇，国内外会议论文2篇）。同时通过项目研究，培养了多名导航方向的博士和硕士研究生。

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