关键词: 全球导航卫星系统, 惯性导航系统, 组合导航, 量测修正, 时延估计

Abstract: Aiming at the problem that the out-sync between satellite measurement and the inertial navigation data in the integrated navigation system under mobility affects the positioning performance, a time synchronization method based on correction of satellite measurement in integrated navigation is proposed. Through the linearization and time delay error compensation of satellite measurements, time delay error compensation is structured to reduce the time delay error of satellite measurement. Simulation results show that this method can reduce the time delay difference value to a few milliseconds and effectively eliminate the influence of time delay on the positioning results.

Key words: global navigation satellite system, inertial navigation system, integrated navigation, measurement correction, time delay estimation