第 30 卷第 2 期 中国惯性技术学报 g environments, the kinematic-to-kinematic relative navigation algorithm based on BDS and INS tightly coupled is proposed. With the tightly-coupled integration of BDS and INS, the strapdown inertial navigation error is taken as the state vector. Then, the pseudorange observation is smoothed by Doppler. The extended Kalman filter is used to fuse the inertial information and satellite observations, and the results of relative navigation are solved finally. The vehicular experiment is conducted to investigate the performance of the proposed relative navigation algorithm. The results show that the proposed algorithm has attained dm-level and maintains continuous relative navigation due to the INS bridging capability when the satellite signals are not available. Key words: BDS; INS; tightly-coupled integration; kinematic-to-kinematic; relative navigation; extended Kalman filter.
