CN104155669B - The deep combination implementing method of receiver based on Beidou II satellite navigation system - Google Patents
The deep combination implementing method of receiver based on Beidou II satellite navigation system Download PDFInfo
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- CN104155669B CN104155669B CN201410378915.6A CN201410378915A CN104155669B CN 104155669 B CN104155669 B CN 104155669B CN 201410378915 A CN201410378915 A CN 201410378915A CN 104155669 B CN104155669 B CN 104155669B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention discloses the deep combination implementing method of receiver based on Beidou II satellite navigation system, assisted by inertial navigation system, accurate velocity aid is provided for receiver carrier tracking loop, recycling carrier tracking loop closed loop provides photocarrier method for code tracking loop, most of dynamic factor of the carrier in elimination carrier tracking loop and code tracking loop, thus reduce the exponent number of carrier tracking loop and code tracking loop, noise bandwidth is reduced, achieve and overcome tight integration technology and cannot improve the robustness of receiver tracking satellite-signal and the quality of measured value, filter bandwidht can be narrowed after receiver loop is assisted, improve the high dynamically adapting ability of receiver, tracking sensitivity and the technique effect of interference free performance.
Description
Technical field
The present invention relates to satellite and inertia combined navigation field, particularly relate to based on Beidou II satellite navigation system connecing
The deep combination implementing method of receipts machine.
Background technology
The compound mode that the navigation of existing satellite navigation receiver and INS uses mainly have pine combination, tight group
Close and deeply combine.The compound mode that satellite navigation receiver on market mainly uses is pine combination or tight integration mode.Deeply
Combination receiver has a lot of school and R&D institution all in research at present, but the most all also in test and Qualify Phase, also
The similar deep combined satellite navigation receiver finding no domestic research and development is applied in product.
The implementation of tight integration receiver is: inertial navigation output location, the result that tests the speed to receiver and Kalman filter,
Receiver can dope pseudorange and the Doppler frequency shift of satellite-signal more accurately according to position, speed and satellite ephemeris
Deng, and these are measured predictive value and form error signal with receiver actual measured value, then obtain inertial navigation through Kalman filter
System location, the correcting value of constant speed result.Satellite navigation receiver utilizes satellite pseudorange, the pseudorange that integrated navigation module calculates
The information aided capture satellite-signals such as rate, it is achieved the fast Acquisition of satellite-signal.Meanwhile, BD2(Beidou II accurately) satellite
Measure predictive value to can also be used to effectively detect correcting errors of receiver actual measured value, get rid of those and such as suffer excessive routing influence
Erroneous pseudorange, the abnormal Doppler frequency shift caused by reflection wave signal and by losing lock or lose the fault wave phase place brought of week and survey
Value etc..
The information auxiliary such as satellite pseudorange, pseudorange rates that integrated navigation module calculates are utilized to catch although tight integration receives function
Obtain satellite-signal, it is achieved the fast Acquisition of satellite-signal, and also can detect BD2 satellite and the sensor measurement of some mistakes
Value, but there is no side for improving the robustness of receiver tracking satellite-signal with the quality improving receiver measured value
Helping, reason is dynamic stress error and the noise of tight integration reduction not yet in effect track loop.In order to improve receiver performance, can
Use inertial navigation auxiliary reception machine loop to realize deep combination, so improve the high dynamically adapting ability of receiver, tracking sensitivity with
And certainty of measurement.
In sum, present inventor during utility model technical scheme, sends out in realizing the embodiment of the present application
At least there is following technical problem in existing above-mentioned technology:
Conventionally, as existing satellite navigation receiver is main with INS navigation uses pine group
Conjunction, the compound mode of tight integration, and the dynamic stress error of tight integration reduction not yet in effect track loop and noise, cause for carrying
The robustness of high receiver tracking satellite-signal and the quality improving receiver measured value there is no help, so, existing
Satellite navigation receiver and INS navigation mode there is the robustness that cannot improve receiver tracking satellite-signal
With improve the quality of receiver measured value, and high dynamically adapting ability, tracking sensitivity and the certainty of measurement of receiver is relatively
The technical problem of difference.
Summary of the invention
This utility model provides the deep combination implementing method of receiver based on Beidou II satellite navigation system, solves
The Shandong that cannot improve receiver tracking satellite-signal is there is in existing satellite navigation receiver with INS navigation mode
Rod and the quality improving receiver measured value, and the high dynamically adapting ability of receiver, tracking sensitivity and measurement essence
Spend poor technical problem, it is achieved that overcome tight integration technology and cannot improve robustness and the survey of receiver tracking satellite-signal
The quality of value, to receiver loop assist after filter bandwidht can be narrowed, improve receiver high dynamically adapting ability, with
Track sensitivity and the technique effect of interference free performance.
For solving above-mentioned technical problem, the embodiment of the present application provides receiver based on Beidou II satellite navigation system
Deep combination implementing method, described method includes:
First, Beidou II system time and satellite information are sent to group after capturing Beidou II satellite by receiver
Closing navigation module, meanwhile, position and the speed of described Beidou II satellite are sent to described integrated navigation module by inertial navigation；
Then, the information that described integrated navigation module sends according to described receiver and described inertial navigation carries out pseudorange and Duo Pu
Strangle prediction；
Then, described integrated navigation module carries out Kalman's filter to pseudorange, pseudorange rates, acceleration and the acceleration of prediction
Ripple, draws pseudorange and Doppler frequency estimation value；
Then, filter result is returned to described receiver by described integrated navigation module, and described receiver utilized upper a period of time
Carve pseudorange and the loop DDS value subcarrier loop tracks of pseudorange rates information reckoning current time, reduce the filter of loop filter
Wavestrip width, carries out offset correction to INS/DR sensor simultaneously；
Finally, described integrated navigation module utilize position that the position of described inertial navigation, speed and Kalman filtering draw with
Velocity error estimated value simulates optimal location and velocity estimation value.
Further, described receiver after capturing Beidou II satellite by Beidou II system time and satellite information
Be sent to integrated navigation module particularly as follows: described receiver after capturing Beidou II satellite by the Beidou II system time and
Satellite information is sent to integrated navigation module with the first data updating rate, and filter result is returned to institute by described integrated navigation module
State receiver particularly as follows: filter result is returned to described reception with described first data updating rate by described integrated navigation module
Machine.
Further, described receiver and described integrated navigation module and described inertial navigation and described integrated navigation module it
Between use the EMIF interface bus mode that carries of TI Company DSP chip to carry out data interaction.
Further, described receiver utilizes a upper moment pseudorange and pseudorange rates information to calculate the loop DDS of current time
Also include before value subcarrier loop tracks: use the method value of recursion to estimate first with pseudorange and pseudorange rates predictive value and defend
The carrier Doppler frequency DDS value of star signal.
Further, the calculation of the carrier Doppler frequency DDS value of described satellite-signal is:
DDS=(1)
Wherein, V is pseudorange rates, and a is acceleration, and j is acceleration, and t is the time, and w is the conversion system that pseudorange arrives Doppler
Number.
The one or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage:
Beidou II system time and satellite are believed after capturing Beidou II satellite owing to have employed first receiver
Breath is sent to integrated navigation module, and meanwhile, position and the speed of described Beidou II satellite are sent to described combination and lead by inertial navigation
Model plane block, the information that the most described integrated navigation module sends according to described receiver and described inertial navigation carries out pseudorange and Doppler
Prediction, the most described integrated navigation module carries out Kalman filtering to pseudorange, pseudorange rates, acceleration and the acceleration of prediction,
Show that filter result is returned to described receiver, institute by pseudorange and Doppler frequency estimation value, the most described integrated navigation module
Stating receiver utilizes a upper moment pseudorange and pseudorange rates information to calculate the loop DDS value subcarrier loop tracks of current time,
Reduce the filtering bandwidth of loop filter, INS/DR sensor is carried out offset correction, last described integrated navigation module simultaneously
The Position And Velocity error estimate utilizing the position of described inertial navigation, speed and Kalman filtering to draw simulate optimal location and
The technical scheme of velocity estimation value, is i.e. assisted by inertial navigation system, provides accurate velocity aid for receiver carrier tracking loop,
Recycling carrier tracking loop closed loop provides photocarrier method for code tracking loop, the carrier in elimination carrier tracking loop and code tracking loop
Major part dynamic factor, thus reduce the exponent number of carrier tracking loop and code tracking loop, noise bandwidth is reduced, so, efficient solution
Existing satellite navigation receiver of having determined exists with INS navigation mode cannot improve receiver tracking satellite-signal
Robustness and improve the quality of receiver measured value, and high dynamically adapting ability, tracking sensitivity and the survey of receiver
The technical problem that accuracy of measurement is poor, and then achieve and overcome tight integration technology and cannot improve the Shandong of receiver tracking satellite-signal
Rod and the quality of measured value, can narrow filter bandwidht after assisting receiver loop, improves the high the suitableeest of receiver
Should be able to power, tracking sensitivity and the technique effect of interference free performance.
Accompanying drawing explanation
Fig. 1 is the deep combination implementing method of receiver based on Beidou II satellite navigation system in the embodiment of the present application one
Flow chart；
Fig. 2 be the embodiment of the present application one Satellite navigation neceiver deeply combine realize schematic diagram.
Detailed description of the invention
This utility model provides the deep combination implementing method of receiver based on Beidou II satellite navigation system, solves
The Shandong that cannot improve receiver tracking satellite-signal is there is in existing satellite navigation receiver with INS navigation mode
Rod and the quality improving receiver measured value, and the high dynamically adapting ability of receiver, tracking sensitivity and measurement essence
Spend poor technical problem, it is achieved that overcome tight integration technology and cannot improve robustness and the survey of receiver tracking satellite-signal
The quality of value, to receiver loop assist after filter bandwidht can be narrowed, improve receiver high dynamically adapting ability, with
Track sensitivity and the technique effect of interference free performance.
Technical scheme during the application implements is the above-mentioned technical problem of solution.General thought is as follows:
Have employed first receiver to be sent out Beidou II system time and satellite information after capturing Beidou II satellite
Delivering to integrated navigation module, meanwhile, position and the speed of described Beidou II satellite are sent to described integrated navigation mould by inertial navigation
Block, the most described integrated navigation module carries out pseudorange according to the information that described receiver and described inertial navigation send and Doppler is pre-
Surveying, the most described integrated navigation module carries out Kalman filtering to pseudorange, pseudorange rates, acceleration and the acceleration of prediction,
Going out pseudorange and Doppler frequency estimation value, filter result is returned to described receiver by the most described integrated navigation module, described
Receiver utilizes a upper moment pseudorange and pseudorange rates information to calculate the loop DDS value subcarrier loop tracks of current time, subtracts
The filtering bandwidth of minor loop wave filter, carries out offset correction, last described integrated navigation module profit simultaneously to INS/DR sensor
The Position And Velocity error estimate drawn by position, speed and the Kalman filtering of described inertial navigation simulates optimal location and speed
The technical scheme of degree estimated value, is i.e. assisted by inertial navigation system, provides accurate velocity aid for receiver carrier tracking loop, then
Utilize carrier tracking loop closed loop to provide photocarrier method for code tracking loop, eliminate the big of carrier in carrier tracking loop and code tracking loop
Partial dynamic factor, thus reduce the exponent number of carrier tracking loop and code tracking loop, noise bandwidth is reduced, so, effectively solve
Existing satellite navigation receiver exists with INS navigation mode cannot improve receiver tracking satellite-signal
Robustness and the quality improving receiver measured value, and high dynamically adapting ability, tracking sensitivity and the measurement of receiver
The technical problem that precision is poor, and then achieve and overcome tight integration technology and cannot improve the robust of receiver tracking satellite-signal
Property and the quality of measured value, to receiver loop assist after filter bandwidht can be narrowed, improve receiver high dynamically adapting
The technique effect of ability, tracking sensitivity and interference free performance.
In order to be better understood from technique scheme, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail.
Embodiment one:
In embodiment one, it is provided that the deep combination implementing method of receiver based on Beidou II satellite navigation system, please
With reference to Fig. 1-Fig. 2, described method includes:
S10, Beidou II system time and satellite information are sent to group after capturing Beidou II satellite by receiver
Closing navigation module, meanwhile, position and the speed of described Beidou II satellite are sent to described integrated navigation module by inertial navigation；
S20, the information that described integrated navigation module sends according to described receiver and described inertial navigation carries out pseudorange and Duo Pu
Strangle prediction；
S30, described integrated navigation module carries out Kalman's filter to pseudorange, pseudorange rates, acceleration and the acceleration of prediction
Ripple, draws pseudorange and Doppler frequency estimation value；
S40, filter result is returned to described receiver by described integrated navigation module, and described receiver utilized a upper moment
Pseudorange and pseudorange rates information calculate the loop DDS value subcarrier loop tracks of current time, reduce the filtering of loop filter
Bandwidth, carries out offset correction to INS/DR sensor simultaneously；
S50, described integrated navigation module utilizes the position and speed that the position of described inertial navigation, speed and Kalman filtering draw
Degree error estimate simulates optimal location and velocity estimation value.
Wherein, in actual applications, optimal location and velocity estimation value are that the position measured of inertial navigation and speed are plus karr
Customer location that graceful filtering draws and velocity error estimated value.
Relative to tight integration mode, deep combination is to improve on tight integration, and Kalman filter passes through satellite ephemeris
Calculate the location constant speed result phase matching of satellite motion state and inertial navigation, it was predicted that go out the pseudorange in satellite next one moment, pseudorange rates
And the information such as acceleration, acceleration.Receiver carries out loop reckoning and for loop tracks according to these information.
The improvement of deep combination: the assistance data that receiver can make full use of inertial navigation system and provide carries out loop auxiliary, used
Leading auxiliary makes receiver preferably work under high current intelligence and interference environment and increase to jamproof robustness；
Assisted by inertial navigation system, provide accurate velocity aid for receiver carrier tracking loop, recycle carrier track
Ring closed loop provides photocarrier method for code tracking loop, eliminate the major part of carrier in carrier tracking loop and code tracking loop dynamically because of
Element, thus reduce the exponent number of carrier tracking loop and code tracking loop, noise bandwidth is reduced.Ideally, for one through used
Lead the DVB carrier tracking loop bandwidth of auxiliary to narrow 3HZ from 18HZ and carried by the capacity of resisting disturbance obtaining about 8dB
Rise
Wherein, in the embodiment of the present application, described receiver after capturing Beidou II satellite by Beidou II system
Time and satellite information be sent to integrated navigation module particularly as follows: described receiver after capturing Beidou II satellite by the Big Dipper
Secondary system time and satellite information are sent to integrated navigation module with the first data updating rate, and described integrated navigation module will filter
Ripple result returns to described receiver particularly as follows: filter result is returned by described integrated navigation module with described first data updating rate
Return to described receiver.
Wherein, in actual applications, described first data updating rate is particularly as follows: the data updating rate of more than 100Hz.
Wherein, in actual applications, integrated navigation module carries out pseudorange with many according to the information that receiver and inertial navigation send
Pu Le predicts.The time sent according to receiver and ephemeris, can calculate current time satellite position and speed, believes according to inertial navigation
Breath understands the position of previous moment carrier, speed, acceleration and acceleration, it is known that the position of carrier positions, speed and satellite
Put, speed then can calculate pseudorange and the Doppler of current time, and Doppler prediction the most then receiver can be defended by tenacious tracking
Star
Wherein, in actual applications, Kalman filtering is a kind of relatively conventional filtering mode.Data filtering is to remove to make an uproar
A kind of data processing technique of sound reduction truthful data, Kalman filter can be from a series of in the case of measuring known to variance
Exist in the data measuring noise, estimate the state of dynamical system. due to, it is easy to computer programming and realizes, and can be right
The data of collection in worksite carry out real-time renewal and process, and Kalman filter is the filtering method being most widely used at present,
Communication, navigation, guide and multi-field with control etc. obtained preferable application.
Wherein, in the embodiment of the present application, described receiver and described integrated navigation module and described inertial navigation and described
The EMIF interface bus mode using TI Company DSP chip to carry between integrated navigation module carries out data interaction.Wherein, exist
In the embodiment of the present application, described inertial navigation is specially inertial navigation system.
Wherein, in the embodiment of the present application, described receiver utilizes a upper moment pseudorange and pseudorange rates information to calculate currently
Also include before the loop DDS value subcarrier loop tracks in moment: use recursion first with pseudorange and pseudorange rates predictive value
Method value estimates the carrier Doppler frequency DDS value of satellite-signal.
Wherein, in actual applications, TI company is used between receiver and integrated navigation and inertial navigation and integrated navigation
The EMIF interface bus mode that dsp chip carries carries out data interaction, and data interaction frequency is the fastest, then the data predicted are more accurate
Really, loop tracks is more stable, it is possible to the dynamic range of adaptation is bigger.
Wherein, in the embodiment of the present application, the calculation of the carrier Doppler frequency DDS value of described satellite-signal is:
DDS=(1)
Wherein, V is pseudorange rates, and a is acceleration, and j is acceleration, and t is the time, and w is the conversion system that pseudorange arrives Doppler
Number.
Wherein, in actual applications, correct loop frequency deviation preset value should ensure that loop filter keeps current as far as possible
Behavioral characteristics does not changes, and should be i.e. the value after Doppler frequency deviation estimated value deducts the Doppler frequency shift amount that loop filter is possessed,
That is:
(2)
It should be noted that loop frequency deviation preset value needed to be always maintained at before being updated, and at each wave filter
All plus in the NCO inserting tracking channel after preset value again when NCO adjustment amount updates.
Give a concrete illustration below to the receiver based on Beidou II satellite navigation system in the embodiment of the present application
Deep combination implementing method is introduced:
This technology has applied in domestic a certain military use product at present, dynamic adaptable, tracking sensitivity, anti-interference
Can the most preferably be improved.Product not losing lock under the conditions of acceleration is 50g, tracking sensitivity reaches-143dBm, carrier wave
The anti-interference relative 18HZ bandwidth of ring obtains the raising of 7dB.
Technical scheme in above-mentioned the embodiment of the present application, at least has the following technical effect that or advantage:
Beidou II system time and satellite are believed after capturing Beidou II satellite owing to have employed first receiver
Breath is sent to integrated navigation module, and meanwhile, position and the speed of described Beidou II satellite are sent to described combination and lead by inertial navigation
Model plane block, the information that the most described integrated navigation module sends according to described receiver and described inertial navigation carries out pseudorange and Doppler
Prediction, the most described integrated navigation module carries out Kalman filtering to pseudorange, pseudorange rates, acceleration and the acceleration of prediction,
Show that filter result is returned to described receiver, institute by pseudorange and Doppler frequency estimation value, the most described integrated navigation module
Stating receiver utilizes a upper moment pseudorange and pseudorange rates information to calculate the loop DDS value subcarrier loop tracks of current time,
Reduce the filtering bandwidth of loop filter, INS/DR sensor is carried out offset correction, last described integrated navigation module simultaneously
The Position And Velocity error estimate utilizing the position of described inertial navigation, speed and Kalman filtering to draw simulate optimal location and
The technical scheme of velocity estimation value, is i.e. assisted by inertial navigation system, provides accurate velocity aid for receiver carrier tracking loop,
Recycling carrier tracking loop closed loop provides photocarrier method for code tracking loop, the carrier in elimination carrier tracking loop and code tracking loop
Major part dynamic factor, thus reduce the exponent number of carrier tracking loop and code tracking loop, noise bandwidth is reduced, so, efficient solution
Existing satellite navigation receiver of having determined exists with INS navigation mode cannot improve receiver tracking satellite-signal
Robustness and improve the quality of receiver measured value, and high dynamically adapting ability, tracking sensitivity and the survey of receiver
The technical problem that accuracy of measurement is poor, and then achieve and overcome tight integration technology and cannot improve the Shandong of receiver tracking satellite-signal
Rod and the quality of measured value, can narrow filter bandwidht after assisting receiver loop, improves the high the suitableeest of receiver
Should be able to power, tracking sensitivity and the technique effect of interference free performance.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (5)
1. the deep combination implementing method of receiver based on Beidou II satellite navigation system, it is characterised in that described method includes:
Beidou II system time and satellite information are sent to integrated navigation mould after capturing Beidou II satellite by receiver
Block, meanwhile, position and the speed of described Beidou II satellite are sent to described integrated navigation module by inertial navigation；
The information that described integrated navigation module sends according to described receiver and described inertial navigation carries out pseudorange and Doppler prediction；
Described integrated navigation module carries out Kalman filtering to pseudorange, pseudorange rates, acceleration and the acceleration of prediction, draws puppet
Away from Doppler frequency estimation value；
Filter result is returned to described receiver by described integrated navigation module, and described receiver utilizes upper moment pseudorange and a puppet
Calculate the loop DDS value subcarrier loop tracks of current time away from rate information, reduce the filtering bandwidth of loop filter, simultaneously
INS/DR sensor is carried out offset correction；
The Position And Velocity error that described integrated navigation module utilizes the position of described inertial navigation, speed and Kalman filtering to draw is estimated
Evaluation simulates optimal location and velocity estimation value.
Method the most according to claim 1, it is characterised in that described receiver after capturing Beidou II satellite by north
Struggle against secondary system time and satellite information is sent to integrated navigation module particularly as follows: described receiver is defended capturing Beidou II
After star, with the first data updating rate, Beidou II system time and satellite information being sent to integrated navigation module, described combination is led
Filter result is returned to model plane block described receiver particularly as follows: filter result is counted by described integrated navigation module with described first
Described receiver is returned to according to turnover rate.
Method the most according to claim 1, it is characterised in that described receiver and described integrated navigation module and described
The EMIF interface bus mode using TI Company DSP chip to carry between inertial navigation and described integrated navigation module carries out data friendship
Mutually.
Method the most according to claim 1, it is characterised in that described receiver utilizes a upper moment pseudorange and pseudorange rates letter
Also include before the loop DDS value subcarrier loop tracks of breath reckoning current time: first with pseudorange and pseudorange rates predictive value
The method value using recursion estimates the carrier Doppler frequency DDS value of satellite-signal.
Method the most according to claim 4, it is characterised in that the carrier Doppler frequency DDS value of described satellite-signal
Calculation is:
DDS=(1)
Wherein, V is pseudorange rates, and a is acceleration, and j is acceleration, and t is the time, and w is the conversion coefficient that pseudorange arrives Doppler.
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| CN105424041A (en) * | 2016-01-18 | 2016-03-23 | 重庆邮电大学 | Pedestrian positioning algorithm based on BD/INS (Beidou/Inertial Navigation System) tight coupling |
| CN106093980A (en) * | 2016-05-31 | 2016-11-09 | 上海电机学院 | The quick preparation method of Big Dipper signal Doppler frequency shift and system |
| CN109459776B (en) * | 2018-10-08 | 2023-04-11 | 上海交通大学 | GNSS/INS deep integrated navigation method based on GNSS signal discontinuous tracking |
| CN113839840B (en) * | 2021-11-24 | 2022-02-18 | 北京航空航天大学 | Bandwidth self-adaptive estimation method and system for bottleneck link of satellite network |
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| US7117086B2 (en) * | 2003-09-08 | 2006-10-03 | Honeywell International Inc. | GPS/IMU clock synchronization particularly for deep integration vector tracking loop |
| CN102636798B (en) * | 2012-04-12 | 2013-10-02 | 南京航空航天大学 | SINS (Strap-down Inertial Navigation System)/GPS (Global Position System) deeply-coupled navigation method based on loop state self-detection |
| CN103941271B (en) * | 2014-03-11 | 2016-12-07 | 哈尔滨工程大学 | A kind of GPS/SINS hypercompact combination navigation method of time-space difference |
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