The carrier loop is unstable and easy to lose lock under high dynamic environment.To solve this, a method for Kalman filter-based INS control amount aided GNSS tracking loop was proposed in this paper.The rate of Doppler frequency is calculated with GNSS and INS information and was used as a control amount to fuse with the Kalman filter and added on the state quantities.Simulation experiments were conducted and the data were analyzed, which indicated that the proposed method could significantly improve the dynamic performance of the carrier tracking loop and the accuracy of the receiver.Under high dynamic environment, the position error was decreased by 2％ to 3％ and velocity error by 4％ to 72％ when compared with the traditional INS-aided method.%针对高动态环境下锁相环易失锁、跟踪不稳定的情况,提出了INS控制量辅助GNSS卡尔曼跟踪环路的方法.该方法利用INS和GNSS计算多普勒频率的变化率,并将该加速度信息作为控制量与卡尔曼滤波器进行融合,叠加到卡尔曼滤波器的状态量上,起到辅助跟踪环路的作用.仿真实验以及数据分析表明,该方法可显著提高载波环的动态性能以及接收机的定位测速精度,在高动态环境下,相较于INS辅助传统环路的算法,使用INS辅助卡尔曼环路时定位误差减少2％～3％,测速误差减少4％～72％.
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