Pseudo-range/pseudo-range rate tight integration method for inertial/satellite navigation system

A satellite navigation system and satellite positioning system technology, applied in the field of inertial/satellite integrated navigation, can solve the problems of normal positioning, loose position/speed of inertial/satellite integrated navigation system, etc.
CN102998685AInactive Publication Date: 2013-03-27BEIJING AUTOMATION CONTROL EQUIP INST
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
BEIJING AUTOMATION CONTROL EQUIP INST
Publication Date
2013-03-27
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention belongs to the technical field of inertial / satellite integrated navigation, in particular to a pseudo-range / pseudo-range rate tight integration method for an inertial / satellite navigation system. The method includes: applying differences between the pseudo-range and pseudo-range rate measured by a global positioning system and the range information and rate information, related to a satellite and solved by inertial navigation, as observation; and estimating inertial errors and clock parameter of the global positioning system by Kalman filtering, and calibrating combinational output by output calibration. The method includes the steps of establishing a model; estimating system errors; adaptively adjusting parameters; and calibrating output. The technical problem that the inertial / satellite integrated navigation system with position / speed loose integration fails in normal positioning in complex environments is solved. The use of the pseudo-range / pseudo-range rate tight integration allows normal positioning for the inertial / satellite integrated navigation system in the complex environments.
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Description

technical field

[0001] The invention belongs to the technical field of inertial / satellite integrated navigation, in particular to an inertial / satellite navigation system pseudo-range / pseudo-range rate tight combination method. Background technique

[0002] The inertial / satellite integrated navigation system has penetrated into the military and aerospace fields, and plays an important role in maintaining national security and promoting economic growth.

[0003] Since the satellite navigation system is easily affected by the interference of the electromagnetic environment, complex terrain, trees, and buildings, the number of visible satellites is reduced, and it cannot be positioned normally, so that the inertial / satellite integrated navigation system is used in navigation such as electronic warfare battlefields, valleys, and riverbeds, oil and gas The use in complex environments such as surveying and blind guide services between urban buildings is greatly restricted. The trad...

Claims

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