针对松耦合模式下的GNSS/INS组合导航系统，全球卫星导航系统（GNSS）信号容易受到环境的影响，在部分场景中可能会导致信号丢失。针对GNSS失锁的情况，提出将非完整性约束（NHC）应用于轮速计（OD）/捷联惯导系统（INS），可以有效抑制在GNSS信号失锁的情况下纯惯性导航的误差发散。同时，提出一种基于新息的自适应卡尔曼滤波算法和考虑车辆运动关系的自适应NHC噪声方法，可以有效增强在GNSS失锁和车辆转弯场景下的导航定位能力。通过场景实测数据验证表明：使用自适应卡尔曼滤波和自适应NHC噪声的组合导航系统在GNSS信号失锁10s的情况下能保证“cm”级导航精度，其定位精度相较于使用传统扩展卡尔曼滤波方案和只使用自适应NHC噪声方案提升了10%，测速精度提升了约30%，可以满足导航系统在GNSS失锁环境下的高精度、高可靠性导航定位服务。

For the GNSS/INS Integrated Navigation System in the loose coupling mode, the global satellite navigation system (GNSS) signal is vulnerable to environmental impact, which may lead to signal loss in some scenes. In view of the GNSS lock out situation, the non integrity constraint (NHC) is applied to the wheel tachometer (OD)/strapdown inertial navigation system (INS), which can effectively suppress the error divergence of pure inertial navigation in the case of GNSS signal lock out. At the same time, an adaptive Kalman filter algorithm based on innovation and an adaptive NHC noise method considering the vehicle motion relationship are proposed, which can effectively enhance the navigation and positioning ability in the GNSS lock out and vehicle turning scenarios. The verification of the scene measured data shows that the integrated navigation system using adaptive Kalman filter and adaptive NHC noise can ensure the navigation accuracy of "cm" level in the case of GNSS signal losing lock for 10s. Compared with the traditional extended Kalman filter scheme and the scheme using only adaptive NHC noise, its positioning accuracy is improved by 10%, and the speed measurement accuracy is improved by about 30%, which can meet the high accuracy of the navigation system in the GNSS losing lock environment High reliability navigation and positioning service.

四川省科技计划资助（基金号：2023YFQ0026）