CN108828642B - A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving - Google Patents
A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving Download PDFInfo
- Publication number
- CN108828642B CN108828642B CN201810865782.3A CN201810865782A CN108828642B CN 108828642 B CN108828642 B CN 108828642B CN 201810865782 A CN201810865782 A CN 201810865782A CN 108828642 B CN108828642 B CN 108828642B
- Authority
- CN
- China
- Prior art keywords
- fuzziness
- ins
- bds
- pseudorange
- satellite
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of fuzziness fast resolution algorithms of INS auxiliary BDS single frequency receiving, within an epoch of BDS, pseudorange is replaced quickly to fix fuzziness by the location information of high quality in short-term that INS is provided, the BDS high accuracy positioning information obtained after fuzziness is fixed will go to update INS location information, be the coupling ring of a closure.This technology realizes the fusion of two kinds of navigation system using Extended Kalman filter, and extended Kalman filter commonly couples filtering method as satellite navigation system, it is capable of the weight in combined system of two navigation system of adjust automatically, so that combined system error is minimum.The pseudorange that the present invention replaces precision low using the corresponding satellite receiver geometric distance of INS high accuracy positioning information reduces ambiguity search's range, accelerates the fixation of fuzziness, provide the real-time index of BDS receiver.
Description
Technical field
A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving of the present invention, belongs to satellite navigation and positioning skill
Art field.
Background technique
Global Satellite Navigation System (GNSS) is to provide the infrastructure of time and space reference, with Internet of Things, nobody
It drives, the development of the emerging technologies such as smart city.GNSS becomes more and more important, it not only can be aircraft, naval vessel, vehicle etc.
There is provided navigation Service, or geodesic survey, seismic monitoring, the industries such as Mapping remote sensing technology provide high accuracy positioning information, may be used also
Think electric power, the fields such as communication provide accurately time service and calibrating frequency service.Just because of GNSS is so important, each big state is all to the greatest extent
Power develops the GNSS of oneself, the global positioning system (GPS) including the U.S., Chinese Beidou satellite navigation system (BDS), European Union
Galileo system and Russia glonass system.Demand with various new and high technologies to location navigation service is increasingly
Height not only needs high-precision positioning, but also locating speed also requires comparable real-time and stability.
In recent years, each GNSS is being constantly improve and is being modernized, including is increased frequency point and observed value information, such as: GPS is existing
The important content of generationization is exactly to increase L5 frequency point.The full constellation of BDS provides the observation value information of three frequency points, and multifrequency point observation can
Being formed with combination has long wavelength, lower ionosphere delay error, the dummy observation of the good characteristics such as low noise, to solution of fuzzy degree
Calculation has many advantages, improves the real-time index of GNSS receiver.However, multifrequency receiver cost is also with frequency point number
Increase and be continuously improved, will affect being widely popularized and applying for receiver.In order to solve this problem, many researchers carry out
Correlative study, including BDS and GPS single-frequency observation is subjected to fusion resolving, fuzziness is constrained using various prior informations, is reduced
Ambiguity Search Space provides the computing speed of fuzziness, these prior informations can be ionosphere prior information, such as the whole world
Ionosphere modeling parameter, the multipath periodicity priori amount being also possible under static immobilization can also be that troposphere modeling is corresponding
Atmosphere delay parameter.Although the above prior information can reduce ambiguity search's range to a certain extent, due to not
Factors, the time effect such as modeling completely is limited.
The general method for solving of carrier phase ambiguity is equal using geometric distance in pseudorange and carrier-phase measurement
Condition, the Pseudo-range Observations of not fuzziness, which are substituted into carrier phase observation data equation, can seek fuzziness.Due to positioning
Information is made of eastern (E), northern (N), day (U) three dimensions, and unknown ginseng is taken as before receiver clock deviation difference
Number processing, so at least by four linear independence equation solutions, four fuzzinesses.The float-solution of four fuzzinesses is actually not
It is completely independent, due to the influence of the location of satellite and a variety of error sources, even after double difference.Carrier phase observation
Also by correlation between value, this correlation is just embodied in their composed matrix covariances.In order to solve this
Problem, it is using least square fuzziness drop adjustment of correlated observations method (LAMBDA), but in urban canyons etc. that current trend, which obtains way,
In environment, satellite-signal is blocked by building causes geometry bad, and multipath effect is serious, especially pseudo-code multipath, has
Time-code multiple error is up to 10m, this makes the convergence time of ambiguity resolution be unable to satisfy real-time demand.
Inertial navigation system (INS) has the precise information in short-term of high output rating, is one kind not by the only of external interference
Vertical navigation system, it and GNSS have very strong mutual supplement with each other's advantages.
Summary of the invention
To solve the shortcomings of the prior art, the invention discloses a kind of fuzzinesses of INS auxiliary BDS single frequency receiving
Fast resolution algorithm, the pseudorange for replacing precision low using the corresponding satellite receiver geometric distance of the high accuracy positioning information of INS,
Ambiguity resolution range is greatly reduced, the computing speed of fuzziness is accelerated.
The technical solution adopted in the present invention is as follows:
A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving, includes the following steps:
The pseudorange and carrier-phase measurement of BDS reference station and rover station are obtained, for short baseline case, difference is resolved
To the double difference observation of pseudorange and carrier phase, ambiguity fixed solution calculation is carried out, BDS location information is obtained；
The solution procedure of the pseudorange and the double difference observation of carrier phase, includes the following steps:
Determine the observation equation in t moment BDS pseudorange and carrier-phase measurement are as follows:
P=ρ+T+I+c (dts-dtr)+εP
Φ=ρ+T-I+c (dts-dtr)+λ·N+εΦ
Wherein, P indicates pseudo-range measurements, and Φ indicates that carrier-phase measurement, ρ indicate the geometry between satellite and receiver
Distance, T indicate tropospheric delay error, and I indicates that ionosphere delay error, c indicate the spread speed of light in a vacuum, dtsTable
Show satellite end clock jitter, dtrIndicate receiver end clock jitter, εPIndicate other composition errors of pseudorange, εΦIndicate carrier phase
Other composition errors；
Public satellite end clock jitter dt can be eliminated by making the difference by reference station b and rover station rs, due to this technology master
To be applied to short baseline case, relative to apart from 20,000 kilometers of middle orbit MEO satellite of the earth or 36,000 kilometers of height
For track GEO and IGSO satellite, base station and rover station can approximation regard a point as, therefore eliminate ionosphere delay and miss
Poor I and tropospheric delay error T；
A high elevation angle is chosen, observation of the satellite with high s/n ratio observation as reference satellite, with other satellites
Value makes the difference again, the common clock deviation dt at cancellation receiver endr, after difference twice, the double difference of pseudorange and carrier phase
Observation equation indicates are as follows:
Wherein,Pseudo-range measurements after indicating double difference,Carrier-phase measurement after respectively indicating double difference,The geometric distance between satellite and receiver after indicating double difference,Carrier-phase measurement after indicating double difference,Pseudorange other composition errors after indicating double difference,The other composition errors of carrier phase after indicating double difference.
Big in Pseudo-range Observations error, especially signal, which is blocked, causes to adopt under pseudorange multipath effect serious situation
It carries out single-frequency fuzziness with INS auxiliary BDS quickly to resolve, the satellite acquired using high-precision INS location information and precise ephemeris
Geometric distance replaces pseudorange between receiver, improves fuzziness float-solution precision, accelerates fuzziness fixed speed；
It is the mistake for reducing search space and being resolved that the INS auxiliary BDS, which carries out the process that single-frequency fuzziness quickly resolves,
Journey includes the following steps:
Determine ambiguity resolution formula are as follows:
WhereinIndicate fuzziness float-solution,It is the determination measured value of carrier phase,Be pseudorange really
Determine measured value, λ indicates carrier wavelength；Fuzziness float-solutionPrecision depend on double difference after the other synthesis of carrier phase
ErrorWith other composition errors of the pseudorange after double difference Precision depend primarily on
Geometric distance replaces pseudorange between the satellite and receiver that are acquired with high-precision INS location information and precise ephemeris, obtains
To the formula of fuzziness float-solution are as follows:
In above formulaIndicate improved fuzziness float-solution,It is the determination measured value of carrier phase, λ is indicated
Carrier wavelength；Indicate the geometric distance between the corresponding satellite of INS and receiver,Load after indicating double difference
The other composition errors of wave phase,Indicate the corresponding geometric distance error of INS；Because in multipath effect severe environments
Code multipath error is much larger than inertial navigation precision, i.e.,SoPrecision be much larger thanSearch
Space can significantly reduce, and due to improving, fuzziness float-solution can reduce Ambiguity Search Space and quickening fuzziness is fixed, mould
Paste degree fixed speed will increase substantially；
Using the directly fixed fuzziness of the method for rounding, it may be assumed that
In formulaIndicate integer ambiguity solution.
Within an epoch of BDS, replace pseudorange quickly fixed fuzzy by the location information of high quality in short-term that INS is provided
Degree, the BDS high accuracy positioning information obtained after fuzziness is fixed go to update INS location information, form the coupling of a closure
Ring；Using the weight in combined system of two navigation system of extended Kalman filter adjust automatically, so that combined system
Error is minimum.
Compared with the prior art, the invention has the following beneficial effects:
The puppet that the present invention replaces precision low using the corresponding satellite receiver geometric distance of high accuracy positioning information of INS
Away from greatly reducing ambiguity resolution range, accelerate the computing speed of fuzziness.With high-precision INS location information and precision
Geometric distance replaces pseudorange between satellite and receiver that ephemeris acquires, since the error of INS and accurate generation are missed much smaller than pseudorange
Difference reduces ambiguity search's range, accelerates the fixation of fuzziness, mention then fuzziness float-solution precision increases substantially therewith
For the real-time index of BDS receiver.
It, can be with although INS can be with high frequency output high accuracy positioning information in short-term, and has not by the advantage of external interference
Solve the problems, such as that BDS satellite-signal is blocked, but INS also has the shortcomings that error can accumulate at any time, when error allows
Between in range, it is necessary to the location information for having a precision to meet the requirements is updated the location information of INS, it could continue work
Make.The present invention is used to update the positioning of INS accuracy decline as caused by error accumulation by the high accuracy positioning result by BDS
Information；On the other hand, since the output frequency of INS is generally 100Hz or 200Hz, and the output frequency of BDS is 1Hz.Also
It is to replace pseudorange quickly to fix fuzziness by the location information of high quality in short-term that INS is provided in an epoch (1s) of BDS,
The BDS high accuracy positioning information obtained after fuzziness is fixed will go to update INS location information, be the coupling ring of a closure.
This technology realizes the fusion of two kinds of navigation system using Extended Kalman filter, and extended Kalman filter is led as satellite
Boat system commonly couples filtering method, is capable of the weight in combined system of two navigation system of adjust automatically, so that group
It is minimum to close systematic error.
Detailed description of the invention
Fig. 1 is inventive algorithm flow chart；
Fig. 2 is the Beidou receiver fuzziness float-solution of no inertial navigation auxiliary；
Fig. 3 is the Beidou receiver fuzziness float-solution for having inertial navigation to assist.
Specific embodiment
The present invention is described in further detail with attached drawing combined with specific embodiments below, but protection model of the invention
It encloses and is not limited to these examples, it is all that protection of the invention is included in without departing substantially from the change of present inventive concept or equivalent substitute
Within the scope of.
Embodiment 1
A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving, includes the following steps:
The pseudorange and carrier-phase measurement of BDS reference station and rover station are obtained, for short baseline case, difference is resolved
To the double difference observation of pseudorange and carrier phase, ambiguity fixed solution calculation is carried out, BDS location information is obtained；
The solution procedure of the pseudorange and the double difference observation of carrier phase, includes the following steps:
Determine the observation equation in t moment BDS pseudorange and carrier-phase measurement are as follows:
P=ρ+T+I+c (dts-dtr)+εP
Φ=ρ+T-I+c (dts-dtr)+λ·N+εΦ
Wherein, P indicates pseudo-range measurements, and Φ indicates that carrier-phase measurement, ρ indicate the geometry between satellite and receiver
Distance, T indicate tropospheric delay error, and I indicates that ionosphere delay error, c indicate the spread speed of light in a vacuum, dtsTable
Show satellite end clock jitter, dtrIndicate receiver end clock jitter, εPIndicate other composition errors of pseudorange, εΦIndicate carrier phase
Other composition errors；
Public satellite end clock jitter dt can be eliminated by making the difference by reference station b and rover station rs, due to this technology master
To be applied to short baseline case, relative to apart from 20,000 kilometers of middle orbit MEO satellite of the earth or 36,000 kilometers of height
For track GEO and IGSO satellite, base station and rover station can approximation regard a point as, therefore ionosphere can be eliminated and prolonged
Delay poor I and tropospheric delay error T；
A high elevation angle is chosen, observation of the satellite with high s/n ratio observation as reference satellite, with other satellites
Value makes the difference again, the common clock deviation dt at cancellation receiver endr, after difference twice, the double difference of pseudorange and carrier phase
Observation equation indicates are as follows:
Wherein,Pseudo-range measurements after indicating double difference,Carrier-phase measurement after respectively indicating double difference,The geometric distance between satellite and receiver after indicating double difference,Carrier-phase measurement after indicating double difference,Pseudorange other composition errors after indicating double difference,The other composition errors of carrier phase after indicating double difference.
The general method for solving of carrier phase ambiguity N is to utilize geometric distance ρ phase in pseudorange and carrier-phase measurement
Deng condition, the Pseudo-range Observations of not fuzziness, which are substituted into carrier phase observation data equation, can seek fuzziness N.Due to fixed
Position information is made of eastern (E), northern (N), day (U) three dimensions, and is taken as before receiver clock deviation difference unknown
Parameter processing, so at least by four linear independence equation solutions, four fuzzinesses.The float-solution of four fuzzinesses is actually simultaneously
It is not completely independent, due to the influence of the location of satellite and a variety of error sources, even after double difference.Carrier phase is seen
Also by correlation between measured value, this correlation is just embodied in their composed matrix covariances.In order to solve this
A problem, it is using least square fuzziness drop adjustment of correlated observations method (LAMBDA), but in urban canyons that current trend, which obtains way,
In equal environment, satellite-signal is blocked by building causes geometry bad, and multipath effect is serious, especially pseudo-code multipath,
There is time-code multiple error to be up to 10m, this makes the convergence time of ambiguity resolution be unable to satisfy real-time demand.
Big in Pseudo-range Observations error, especially signal, which is blocked, causes to adopt under pseudorange multipath effect serious situation
It carries out single-frequency fuzziness with INS auxiliary BDS quickly to resolve, the satellite acquired using high-precision INS location information and precise ephemeris
Geometric distance replaces pseudorange between receiver, improves fuzziness float-solution precision, improves fuzziness fixed speed；
It is the mistake for reducing search space and being resolved that the INS auxiliary BDS, which carries out the process that single-frequency fuzziness quickly resolves,
The size of journey, search space is determined by the variance-covariance matrix of fuzziness float-solution:
Wherein W indicates the search range of fuzziness combination, and ∝ indicates that proportional relation, n indicate epoch number, and λ indicates carrier wave
Wavelength,Indicate fuzziness float-solution precision.In three influence factors, since requirement of real-time n cannot be too big, room for improvement
It is very limited.λ is the wavelength of intrinsic frequency, can not be changed, and can only reduce Ambiguity Search Space by improving fuzziness float-solution,
And then accelerates fuzziness and fix.
And ambiguity resolution formula are as follows:
WhereinIndicate fuzziness float-solution,It is the determination measured value of carrier phase,Be pseudorange really
Determine measured value, λ indicates carrier wavelength；Fuzziness float-solutionPrecision depend on double difference after the other synthesis of carrier phase
ErrorWith other composition errors of the pseudorange after double difference Precision depend primarily on
Pseudo-range Observations error is big, and especially signal, which is blocked, causes under pseudorange multipath effect serious situation, according to
Law of propagation of errors, the pseudo-range measurements of low precision are low directly to bring negative influence to fuzziness float-solution precision,It is logical
Traditional LAMBDA method search finding is crossed to take a long time.
Geometric distance replaces puppet between satellite and receiver that the present invention is acquired with high-precision INS location information and precise ephemeris
Away from obtaining the formula of fuzziness float-solution are as follows:
In above formulaIndicate improved fuzziness float-solution,It is the determination measured value of carrier phase, λ is indicated
Carrier wavelength；Indicate the geometric distance between the corresponding satellite of INS and receiver,Load after indicating double difference
The other composition errors of wave phase,Indicate the corresponding geometric distance error of INS；Because in multipath effect severe environments
Code multipath error is much larger than inertial navigation precision, i.e.,SoPrecision be much larger thanAccording to
FormulaIt is found that search space can significantly reduce, fuzziness fixed speed will be increased substantially；
In fact, float ambiguities are determined as integer combinations, there are three types of methods, are rounding method, boot strap and LAMBDA respectively
Method, in the case where float-solution precision increases substantially, using the directly fixed fuzziness of the method for rounding, it may be assumed that
In formulaIndicate integer ambiguity solution, the fixation of fuzziness can be further speeded up in this way, if certainly using
Rounding method is fixed, it is necessary to which stringenter F-Ratio method is verified, and ensures the fixed success of integer ambiguity as far as possible
Rate.
The frequency of BDS frequency point B1 is 1561.098MHz, and corresponding wavelength is 0.192m, after fuzziness is fixed as integer.It presses
It is calculated according to 1% wavelength of observation error, theoretically positioning accuracy is 2mm.Although INS can be with high frequency output high accuracy positioning in short-term
Information, and have not by the advantage of external interference, it can solve the problem of BDS satellite-signal is blocked, but INS is also wrong
The shortcomings that difference can accumulate at any time, in the time range that error allows, it is necessary to the location information for thering is a precision to meet the requirements
The location information of INS is updated, it can just work on.
The present invention is by being used to update INS accuracy decline as caused by error accumulation for the high accuracy positioning result of BDS
Location information；Also, since the output frequency of INS is generally 100Hz or 200Hz, and the output frequency of BDS is 1Hz, institute
To replace pseudorange quickly to fix fuzziness by the location information of high quality in short-term that INS is provided, obscure within an epoch of BDS
The BDS high accuracy positioning information obtained after degree is fixed goes to update INS location information, forms the coupling ring of a closure；
The present invention commonly couples filtering method, adjust automatically using extended Kalman filter as satellite navigation system
The weight in combined system of two navigation system, so that combined system error is minimum.
In order to prove the science and validity of algorithm, using Beidou receiver in the serious avenue of multipath effect
Carry out on-board measurement.The data processing for collecting 6 minutes (360 epoch), such as Fig. 2 it is shown that the Beidou of no inertial navigation auxiliary receives
The fuzziness float-solution for having inertial navigation to assist is shown in machine fuzziness float-solution, Fig. 3.Comparing two figures can be seen that inertial navigation auxiliary
Fuzziness float-solution precision can be significantly improved, and then improves the success rate of ambiguity resolution and the precision of positioning.
The present invention is not limited by embodiment illustrated herein, and is to fit to and principles disclosed herein and novelty
The consistent widest range of feature.
Claims (1)
1. a kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving, which comprises the steps of:
The pseudorange and carrier phase observation data of BDS reference station and rover station are obtained, for short baseline case, difference resolves to obtain puppet
Away from the double difference observation with carrier phase, ambiguity fixed solution calculation is carried out, BDS location information is obtained；
Pair of the pseudorange and carrier phase
The solution procedure of poor observation, includes the following steps:
Determine the observation equation in t moment BDS pseudorange and carrier phase observation data are as follows:
P=ρ+T+I+c (dts-dtr)+εP
Φ=ρ+T-I+c (dts-dtr)+λ·N+εΦ
Wherein, P indicates Pseudo-range Observations, and Φ indicates carrier phase observation data, ρ indicate the geometry between satellite and receiver away from
From T indicates tropospheric delay error, and I indicates that ionosphere delay error, c indicate the spread speed of light in a vacuum, dtsIt indicates
Satellite end clock jitter, dtrIndicate that receiver end clock jitter, N indicate integer ambiguity, εPIndicate the other composition errors of pseudorange,
εΦIndicate the other composition errors of carrier phase；
It is made the difference by reference station b and rover station r and eliminates public satellite end clock jitter dts, under short baseline case, for away from
The middle orbit MEO satellite of 20,000 kilometers of liftoff ball and 36,000 kilometers of high orbit GEO and IGSO satellite, by base station and stream
Dynamic station is used as a point, eliminates ionosphere delay error I and tropospheric delay error T；
Choose a high elevation angle, the observation using the satellite with high s/n ratio observation as reference satellite, with other satellites
It makes the difference again, cancellation receiver end clock jitter dtr, after difference twice, the double difference observation side of pseudorange and carrier phase
Journey indicates are as follows:
Wherein,Pseudo-range Observations after indicating double difference,Carrier phase observation data after indicating double difference,It indicates
The geometric distance between satellite and receiver after double difference,Integer ambiguity after indicating double difference,Indicate double difference
The other composition errors of pseudorange afterwards,The other composition errors of carrier phase after indicating double difference；
Big in Pseudo-range Observations error, signal, which is blocked, to be caused to assist under pseudorange multipath effect serious situation using INS
BDS carries out single-frequency fuzziness and quickly resolves, between the satellite and receiver that are acquired using high-precision INS location information and precise ephemeris
Geometric distance replaces pseudorange, improves fuzziness float-solution precision, accelerates fuzziness fixed speed；
Within an epoch of BDS, pseudorange is replaced quickly to fix fuzziness, benefit by the location information of high quality in short-term that INS is provided
The BDS high accuracy positioning information update INS location information obtained after being fixed with fuzziness forms the coupling ring of a closure；
Using weight of two navigation system of extended Kalman filter adjust automatically in combined system, so that combined system error is most
It is small；
It is the process for reducing search space and being resolved, packet that the INS auxiliary BDS, which carries out the process that single-frequency fuzziness quickly resolves,
Include following steps:
Geometric distance replaces pseudorange between the satellite and receiver that are acquired with high-precision INS location information and precise ephemeris, obtains mould
The formula of paste degree float-solution are as follows:
In above formula,Indicate improved fuzziness float-solution,Carrier phase observation data after indicating double difference, λ table
Show carrier wavelength；Indicate the geometric distance between the corresponding satellite of INS and receiver,After indicating double difference
The other composition errors of carrier phase,Indicate the corresponding geometric distance error of INS；
Using the directly fixed fuzziness of the method for rounding, it may be assumed that
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810865782.3A CN108828642B (en) | 2018-08-01 | 2018-08-01 | A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810865782.3A CN108828642B (en) | 2018-08-01 | 2018-08-01 | A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108828642A CN108828642A (en) | 2018-11-16 |
| CN108828642B true CN108828642B (en) | 2019-07-23 |
Family
ID=64153428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810865782.3A Active CN108828642B (en) | 2018-08-01 | 2018-08-01 | A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108828642B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110954132B (en) * | 2019-10-31 | 2023-06-09 | 太原理工大学 | GRNN-assisted self-adaptive Kalman filtering navigation fault identification method |
| CN111308432B (en) * | 2019-12-03 | 2022-03-22 | 中国人民解放军63921部队 | Method for evaluating spacecraft ranging data precision by using speed measurement data |
| CN111413720B (en) * | 2020-03-21 | 2022-07-15 | 哈尔滨工程大学 | Multi-frequency Beidou carrier phase difference/INS combined positioning method |
| CN111578935B (en) * | 2020-05-08 | 2021-08-20 | 北京航空航天大学 | Method for assisting GNSS ambiguity fixing by inertial navigation position increment |
| CN112230254B (en) * | 2020-10-29 | 2024-05-14 | 新乡医学院三全学院 | Correction method and device for GPS carrier phase multipath error |
| CN112415542B (en) * | 2021-01-25 | 2021-04-16 | 湖南联智科技股份有限公司 | Deformation monitoring and resolving method based on combination of Beidou and INS |
| CN112526573B (en) * | 2021-02-07 | 2021-05-14 | 腾讯科技（深圳）有限公司 | Object positioning method and device, storage medium and electronic equipment |
| CN113341437B (en) * | 2021-05-21 | 2024-05-28 | 东南大学 | GNSS unmodeled error inversion method |
| CN116299623B (en) * | 2023-05-12 | 2023-08-01 | 武汉大学 | PPP and INS tight combination method and system under urban complex scene |
| CN118011445A (en) * | 2024-04-08 | 2024-05-10 | 高速铁路建造技术国家工程研究中心 | Ambiguity fixing method and system for multiple GNSS antennas |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2741159B1 (en) * | 1995-11-14 | 1998-01-23 | Centre Nat Etd Spatiales | GLOBAL SPATIAL RADIO-LOCATION AND RADIONAVIGATION SYSTEM, BEACON, AND RECEIVER USED IN SUCH A SYSTEM |
| CN103576175B (en) * | 2013-11-06 | 2016-01-20 | 西南交通大学 | A kind of double frequency many constellations GNSS OTF Ambiguity Resolution method |
| CN105223598B (en) * | 2015-09-28 | 2017-07-11 | 厦门理工学院 | A kind of GNSS ambiguity of carrier phase simple epoch solution method |
| CN106707311B (en) * | 2016-12-29 | 2019-01-29 | 武汉大学 | GLONASS RTK localization method based on GPS enhancing |
-
2018
- 2018-08-01 CN CN201810865782.3A patent/CN108828642B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108828642A (en) | 2018-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108828642B (en) | A kind of fuzziness fast resolution algorithm of INS auxiliary BDS single frequency receiving | |
| CN109709591B (en) | GNSS high-precision positioning method for intelligent terminal | |
| Yang et al. | Contribution of the compass satellite navigation system to global PNT users | |
| CN108802782B (en) | Inertial navigation assisted Beidou three-frequency carrier phase integer ambiguity solving method | |
| CN104297773B (en) | A kind of high accuracy Big Dipper three frequency SINS deep integrated navigation system | |
| Li et al. | Benefits of BDS-3 B1C/B1I/B2a triple-frequency signals on precise positioning and ambiguity resolution | |
| CN108196272A (en) | A kind of satellite navigation positioning device and method based on real-time accurate One-Point Location | |
| CN109765589B (en) | Three-frequency GNSS real-time cycle slip fixing technology based on non-ionosphere combination | |
| CN111751853A (en) | GNSS double-frequency carrier phase integer ambiguity resolution method | |
| CN109782313A (en) | Ground Static Precise Point Positioning data processing method | |
| Ke et al. | Integrating GPS and LEO to accelerate convergence time of precise point positioning | |
| CN108387912B (en) | Solving method for Multi-GNSS precise single-point positioning | |
| CN104898145B (en) | A kind of fuzziness fixing means and system based on half cycle fuzziness | |
| CN105044747A (en) | Time synchronization device and method based on multi-satellite common view and filtering | |
| CN116299615B (en) | Phase deviation estimation method for realizing single Beidou real-time PPP fuzzy fixation | |
| CN109683182A (en) | The GNSS multimode of deviation combines Differential positioning method between a kind of introducing system | |
| CN112146557A (en) | GNSS-based real-time bridge deformation monitoring system and method | |
| CN112731502A (en) | Unmanned aerial vehicle aerial refueling inertia-assisted Beidou three-frequency precise relative navigation method | |
| CN115220078A (en) | GNSS high-precision positioning method and navigation method based on carrier phase difference | |
| CN111551975B (en) | BDS/GPS reference station low altitude angle satellite whole-cycle ambiguity determining method | |
| Balss et al. | High resolution geodetic earth observation with TerraSAR-X: Correction schemes and validation | |
| CN105158781A (en) | Method for realizing outer space use positioning by earth GNSS satellites | |
| CN116679329A (en) | Beidou space-time reference accurate characterization method and system based on state domain space | |
| Li et al. | Assessment and analysis of the four-satellite QZSS precise point positioning and the integrated data processing with GPS | |
| CN103869326B (en) | Pseudorange fingerprint matching-based quick area positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |