Device and method for determining integer ambiguity by GPS (Global Positioning System) assisted by AHRS (Attitude and Heading Reference System) at low cost

A technology of whole cycle ambiguity and GPS module, applied in the field of satellite navigation, can solve the problems of cycle slip or system anomaly, time-consuming data processing, etc.

Active Publication Date: 2014-04-23
苏州华米导航科技有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the independent data processing of GPS takes time and is easily affected by cycle slip or system abnormality, etc., and proposes a low-cost AHRS-assisted GPS device and method for determining the ambiguity of the whole cycle

Method used

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  • Device and method for determining integer ambiguity by GPS (Global Positioning System) assisted by AHRS (Attitude and Heading Reference System) at low cost
  • Device and method for determining integer ambiguity by GPS (Global Positioning System) assisted by AHRS (Attitude and Heading Reference System) at low cost
  • Device and method for determining integer ambiguity by GPS (Global Positioning System) assisted by AHRS (Attitude and Heading Reference System) at low cost

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Embodiment 1

[0061] 1. see figure 1 , a low-cost AHRS-assisted GPS device for determining the ambiguity of the entire circumference, which consists of an AHRS system and a GPS module. A gyroscope (12), a MEMS three-axis accelerometer (11) and a MEMS three-axis magnetometer (13), and a GPS module consists of two standard GPS antennas (14, 15) and a single-frequency GPS receiver (16), the The MEMS three-axis gyroscope (12), the MEMS three-axis accelerometer (11), the MEMS three-axis magnetometer (13) and the single-frequency GPS receiver (16) are connected with a data processing and control unit (17), and the two A standard GPS antenna (14, 15) is connected with a single-frequency GPS receiver (16).

Embodiment 2

[0063] see figure 2 , the low-cost AHRS-assisted GPS method for determining the ambiguity of the whole cycle, using the above-mentioned device for operation, step S23 is GPS data collection, the single-frequency GPS receiver (16) collects the L1 carrier signal of the satellite through the antenna (14, 15), and the signal The content includes satellite ephemeris and carrier phase, and then the receiver processes the (16) ephemeris. This processing process is very common and will not be repeated here to obtain the coordinates of the receiver (16) in the WGS-84 coordinate system.

[0064] After the original GPS data are all obtained, go to step S24 and perform Kalman filtering. The initial baseline vector is calculated from the attitude angle determined by AHRS as the initial value. The closer the initial value of the baseline vector is to the true value, the shorter the filtering time , the filtering equation is as follows:

[0065] (1)

[0066] (2)

[0...

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Abstract

The invention discloses a device and a method for determining integer ambiguity by a GPS (Global Positioning System) assisted by an AHRS (Attitude and Heading Reference System) at low cost. The device consists of an AHRS and a GPS, wherein the AHRS consists of an MEMS (Micro-electromechanical System) three-axis gyroscope, an MEMS three-axis accelerometer and an MEMS three-axis magnetometer; the GPS module consists of two standard GPS antennas and a single-frequency GPS receiver; the MEMS three-axis gyroscope, the MEMS three-axis accelerometer, the MEMS three-axis magnetometer and the single-frequency GPS receiver are connected with a data processing and control unit; the two standard GPS antennas are connected with the single-frequency GPS receiver. Meanwhile, data are fused by adopting a Kalman filtering method; attitude angle output of the AHRS is provided when the GPS has cycle slip or other abnormal situations so as to ensure that a system can effectively and continuously run in an uninterrupted manner, and the availability of the device cannot be influenced by malfunction of the GPS system.

Description

technical field [0001] The invention relates to a low-cost AHRS assisted GPS device and method for determining the ambiguity of the whole circle, belonging to the field of satellite navigation. Background technique [0002] GPS precise positioning and orientation is a research hotspot at home and abroad in recent years. To obtain the attitude angle of the carrier, it is necessary to quickly and accurately obtain the integer ambiguity of the carrier phase. There are many methods for calculating the integer ambiguity, such as dual-frequency phase Linear combination of dual-frequency phase and pseudorange, ambiguity function search method, ambiguity covariance method. The separate data processing of GPS needs to search for the ambiguity of the whole cycle. The search range is very large, so it is time-consuming and easily affected by cycle slip or system anomaly. [0003] AHRS is a miniature heading and attitude reference system, which integrates data from three-axis gyros...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/55
CPCG01S19/55
Inventor 高同跃费涛葛海浪王冬冬史何定沈高炜
Owner 苏州华米导航科技有限公司
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