A satellite positioning integrity detection device and its algorithm

Abstract

The invention discloses a satellite positioning integrity detection apparatus and algorithm thereof. The algorithm includes the steps of processing and caching measurement data output by a barometer, detecting the existence of abrupt change, directly entering into normal positioning calculation without using height assistance if no abrupt change, carrying out positioning calculation by adding an auxiliary height equation, calculating the residual error of the measured value of the auxiliary height equation after positioning calculation is completed and the quadratic sum of all residual errors of measured values, counting up the number of available satellites, carrying out the next detection step, only if the number of available satellites satisfies the independent positioning requirement, and comparing the residual error of the measured value of the auxiliary height equation and the quadratic sum of all residual errors of the measured values with corresponding thresholds to determine the positioning integrity. In this way, a receiver can determine the validity of positioning results with the presence of auxiliary height information, thereby restricting error positioning output.

Description

technical field [0001] The invention relates to a GNSS combined positioning technology, relates to a MEMS sensor-assisted GNSS navigation algorithm, and in particular to a satellite positioning integrity detection device and an algorithm thereof. Background technique [0002] The Global Navigation Satellite System (GNSS) receivers currently on the market can provide good positioning results in most terrestrial environments. However, when the receiver enters an environment with severe attenuation and deformation of satellite signals (such as forest environment, dense urban areas, and canyon areas), the number of satellite measurement values ​​synthesized by the receiver will decrease, and there may be relatively large errors, which will cause the receiver to fail. The positioning result is given, or the calculated positioning result is inaccurate. In order to ensure that the receiver can still have good positioning accuracy in the case of poor satellite signal conditions, ME...

AI Technical Summary

Problems solved by technology

However, when the receiver enters an environment with severe attenuation and deformation of satellite signals (such as forest environment, dense urban areas, and canyon areas), the number of satellite measurement values ​​synthesized by the receiver will decrease, and there may be relatively large errors, which will cause the receiver to fail. The positioning result is given, or the calculated positioning result is inaccurate

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