Inertial navigation assisted Big Dipper single-frequency whole-cycle ambiguity calculation method under short baseline condition

Abstract

The invention discloses an inertial navigation assisted Big Dipper single-frequency whole-cycle ambiguity calculation method under the short baseline condition. The inertial navigation assisted Big Dipper single-frequency whole-cycle ambiguity calculation method comprises three steps of firstly conducting grouping difference on Big Dipper observed quantity according to the height of a Big Dipper constellation type orbit, wherein atmosphere delay errors of the Big Dipper observed quantity under the short baseline condition can be effectively eliminated; secondly, utilizing an inertial navigation output attitude matrix to estimate a baseline vector and substituting a baseline vector into a Big Dipper double-difference carrier wave observation equation, utilizing a recursive least-squares method to calculate whole-cycle ambiguity floating point solution and a covariance matrix of the floating point solution, then adopting an improved least-squares ambiguity de-correlation method to fix a whole-cycle ambiguity integer solution; finally, utilizing an inertial navigation estimated baseline vector and a Big Dipper three-difference carrier phase observed value to produce inspection amount so as to judge whether a cycle slip occurs or not, estimating and repairing a cycle slip value if the cycle slip occurs. By means of the inertial navigation assisted Big Dipper single-frequency whole-cycle ambiguity calculation method under the short baseline condition, the calculation speed and accurate of the whole-cycle ambiguity can be effectively improved, and the method is suitable for positioning and attitude fixing of a high-dynamic carrier under the condition of a single-frequency Big Dipper satellite system.

Description

technical field [0001] The invention belongs to the technical field of the single-frequency Beidou satellite system solving the whole-cycle ambiguity optimization method, and relates to a new feature of the Beidou second-generation navigation, which uses the inertial navigation output attitude array to assist the Beidou single-frequency full-cycle ambiguity solution and cycle slipping method. Optimized methods for detection and repair. Background technique [0002] The solution of carrier ambiguity and the detection and repair of cycle slip are the core issues of satellite navigation high-precision positioning and attitude determination. At present, satellite precise positioning and attitude determination technology is mainly aimed at the GPS satellite system. With the construction of my country's Beidou satellite, the second generation of Beidou has entered the stage of rapid networking. my country's second generation of Beidou has launched 16 Beidou satellite navigation sa...

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Problems solved by technology

[0004] Purpose of the invention: Aiming at the characteristics of the second generation of Beidou, to overcome the defects of low real-time performance of the traditional single-frequency integer ambiguity (LAMBDA) method and the low sensitivity of cycle slip detection and repair, the present invention provides a short baseline inertial navigation aid Beidou single-frequency integer ambiguity solution method

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