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Receiving machine deep combination implementation method based on Big Dipper second-generation satellite navigation system

A satellite navigation system and receiver technology, applied in the field of satellite and inertial integrated navigation, can solve the problem of high dynamic adaptability of the receiver, poor tracking sensitivity measurement accuracy, inability to improve the signal quality of the receiver tracking satellite, and inability to improve the receiver tracking satellite Signal robustness receiver measurement value and other issues to achieve the effect of improving high dynamic adaptability and reducing filter bandwidth

Inactive Publication Date: 2014-11-19
CHENGDUSCEON TECH
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Problems solved by technology

[0007] The present invention provides a receiver deep combination implementation method based on the Beidou second-generation satellite navigation system, which solves the problem that the existing satellite navigation receiver and inertial navigation combined navigation method cannot improve the robustness of the receiver tracking satellite signals and improve the receiver The quality of the measured value, as well as the technical problems of high dynamic adaptability of the receiver, tracking sensitivity and poor measurement accuracy, have overcome the tight combination technology that cannot improve the robustness of the receiver tracking satellite signal and the quality of the measured value. After the receiver loop is assisted, the filter bandwidth can be narrowed, and the technical effect of improving the receiver's high dynamic adaptability, tracking sensitivity and anti-interference performance

Method used

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  • Receiving machine deep combination implementation method based on Big Dipper second-generation satellite navigation system
  • Receiving machine deep combination implementation method based on Big Dipper second-generation satellite navigation system

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Embodiment 1

[0029] In the first embodiment, a receiver deep combination implementation method based on the Beidou second-generation satellite navigation system is provided, please refer to Figure 1-Figure 2 , the method includes:

[0030]S10,接收机在捕获到北斗二代卫星后将北斗二代系统时间和卫星信息发送到组合导航模块,同时,惯导将所述北斗二代的位置和速度发送到所述组合导航模块;

[0031] S20,所述组合导航模块根据所述接收机和所述惯导发送的信息进行伪距和多普勒预测;

[0032] S30,所述组合导航模块对预测的伪距、伪距率、加速度和加加速度进行卡尔曼滤波,得出伪距和多普勒频移估计值;

[0033] S40,所述组合导航模块将滤波结果返回到所述接收机,所述接收机利用上一时刻伪距和伪距率信息推算当前时刻的环路DDS值辅助载波环路跟踪,减小环路滤波器的滤波带宽,同时对INS / DR传感器进行偏差校正;

[0034] S50,所述组合导航模块利用所述惯导的位置、速度和卡尔曼滤波得出的位置与速度误差估计值拟合出最优位置和速度估计值。

[0035] 其中,在实际应用中,最优位置和速度估计值为惯导测量的位置和速度加上卡尔曼滤波得出的用户位置和速度误差估计值。

[0036] 相对于紧组合方式,深组合是在紧组合上进行改进,卡尔曼滤波器通过卫星星历推算卫星运动状态与惯导的定位定速结果相拟合,预测出卫星下一个时刻的伪距、伪距率以及加速度、加加速度等信息。接收机根据这些信息进行环路推算并用于环路跟踪。

[0037] 深组合的改进:接收机能够充分利用惯导系统提供的辅助数据进行环路辅助,惯导辅助使得接收机在高动态情况和干扰环境下更好地工作及增加抵抗干扰的鲁棒性;

[0038] 通过惯导系统辅助,为接收机载波跟踪环提供精确的速度辅助,再利用载波跟踪环闭环为码跟踪环提供载波辅助,消除载波跟踪环和码跟踪环中的载体的大部分动态因素,从而降低载波跟踪环和码跟踪环的阶数,将噪声带宽降低。理想情况下,对于一个经惯导辅助...

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Abstract

The utility model discloses a receiving machine deep combination implementation method based on the Big Dipper second-generation satellite navigation system. Assisted by an inertial navigation system, accurate speed assistance is provided for a receiving machine carrier wave tracking loop, a carrier wave tracking loop closed loop is utilized to provide assistance for a code tracking loop to eliminate most dynamic factors of carriers in the carrier wave tracking loop and the code tracking loop so as to reduce the orders of the carrier wave tracking loop and the code tracking loop, so that the noise bandwidth is decreased, the situation that the tight combination technology cannot improve the robustness and the measured value quality of a satellite signal tracked by a receiving machine is overcome; after the receiving machine loop is assisted, the filter bandwidth can be narrowed, and the technical effects that the high-dynamic adaptive capacity, the tracking sensitivity and the anti-interference ability of the receiving machine are improved are realized.

Description

technical field [0001] The invention relates to the field of satellite and inertial integrated navigation, in particular to a receiver deep combination realization method based on the Beidou second-generation satellite navigation system. Background technique [0002] The existing combination methods of satellite navigation receiver and inertial navigation integrated navigation mainly include loose combination, tight combination and deep combination. The satellite navigation receivers on the market mainly adopt loose combination or tight combination. Currently, many schools and scientific research institutes are researching deep combination receivers, but most of them are still in the stage of testing and verification, and no similar deep combination satellite navigation receivers developed in China have been found to be used in products. [0003] The implementation of the tight combination receiver is: the inertial navigation output positioning, speed measurement results to...

Claims

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Application Information

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IPC IPC(8): G01S19/47
CPCG01C21/165G01S19/29G01S19/47
Inventor 范刚辜永忠
Owner CHENGDUSCEON TECH
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