自旋载体中的超紧组合GNSS接收机跟踪环路设计

自旋载体是全球导航卫星系统接收机的一种典型应用。当全球导航卫星系统载体自旋时，旋转产生的高阶动态将导致传统跟踪环路失锁；全球导航卫星系统与惯性导航系统组合可以有效补偿信号的高阶动态。因此，提出了一种利用惯性导航信息辅助卫星导航信号跟踪的超紧组合导航接收机环路设计方法，并分析了惯性导航信息辅助速率、自旋载体转速和信号载波相位误差之间的关系。通过仿真验证了所提接收机环路结构可以有效解决自旋载体接收机的信号跟踪问题，且相比于卫星导航单系统三阶环路而言，所提超紧组合环路结构可以显著提升自旋载体接收机的定位精度。

Design of ultra-tight coupling GNSS receiver tracking loop in spinning vehicle

The spinning vehicles are typical applications of GNSS (global navigation satellite system) receivers. When the GNSS carrier spins, the rotation will introduce higher order dynamics making the traditional tracking loop out of lock. Coupling with the INS (inertial navigation system) can effectively compensate the high order dynamic of signal carrier phase. In this case, a design of ultra-tight coupling GNSS tracking loop, which used the solutions of INS to aid the tracking of GNSS signal, was proposed. Besides, the relationship among the aiding rate of INS, the angular rate of spinning vehicle and the error of signal carrier phase was also analyzed. The simulation results show that the proposed tracking loop structure can effectively deal with the problem of signal tracking in the spinning vehicle, and significantly enhance the precision of position compared to the single GNSS navigation results.