A Navigation Positioning Method Based on Integral Doppler Smoothed Pseudorange

Abstract

The invention discloses a navigation and positioning method for smoothing pseudorange based on integral Doppler. The method includes the steps that according to Doppler frequency shift observed values provided by all channel tracking loops of a GNSS, Doppler frequency shift is smoothed based on the an alpha-beta filtering method to eliminate delay error of an ionized layer; the pseudorange is smoothed through integral Doppler frequency shift, average processing is performed on pseudorange smoothing initial values, and the pseudorange smoothing precision is improved; the states of all channels of a GNSS receiver are determined, position information of all channel satellites of the GNSS is calculated at the observation moments in real time according to information such as observation time and satellite ephemeris, and navigation and positioning of the GNSS receiver are completed based on the pseudorange positioning method. Through the method, the influence of ionized layer delay and phase jump on pseudorange smoothing is eliminated, the pseudorange smoothing precision and the smoothness are improved, the dynamic adaptability and the navigation stability of the GNSS receiver are improved, and the application prospects are wide.

Description

technical field [0001] The invention relates to the field of satellite navigation, in particular to a navigation positioning method based on integral Doppler smoothing pseudorange. Background technique [0002] Global Navigation Satellite Systems (GNSS) can continuously provide high-precision navigation information for multiple users all-weather and all-day around the world. It has achieved great success in military and civilian fields such as aerospace, surveying and mapping, and transportation. It is easily affected by factors such as high maneuverability of the carrier, obstacle occlusion, signal interference, etc., which largely limits its application range. With the continuous improvement of the navigation performance requirements of many military and civilian navigation products, how to achieve high Precision positioning navigation has become a research focus. [0003] When the carrier is in a complex environment such as high dynamic maneuvering, obstacle occlusion, s...

AI Technical Summary

Problems solved by technology

[0002] Global Navigation Satellite Systems (GNSS) can continuously provide high-precision navigation information for multiple users all-weather and all-day around the world. It has achieved great success in military and civilian fields such as aerospace, surveying and mapping, and transportation. It is easily affected by factors such as high maneuverability of the carrier, obstacle occlusion, signal interference, etc., which largely limits its application range. With the continuous improvement of the navigation performance requirements of many military and civilian navigation products, how to achieve high Precision positioning navigation has become a research focus

[0003] When the carrier is in a complex environment such as high dynamic maneuvering, obstacle occlusion, signal interference, multipath, etc., the carrier tracking loop of the GNSS receiver is prone to signal loss of lock and phase loss of cycle, resulting in large changes in the carrier phase observation value. Phase-smoothed pseudoranges will seriously affect navigation accuracy

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