Multi-path error elimination method of Beidou receiver
A multi-path error and receiver technology, applied in satellite radio beacon positioning systems, measuring devices, instruments, etc., can solve problems such as unsatisfactory elimination effects and complex algorithms
Inactive Publication Date: 2015-11-18
NINGBO CHENGDIAN TAIKE ELECTRONICS INFORMATION TECH DEV
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Problems solved by technology
However, these algorithms are relatively complex, and the effect of eliminating multipath errors in pseudorange residuals and pseudorange rate residuals is not ideal
Method used
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Embodiment
[0028] Embodiment: a kind of multipath error elimination method based on Kalman filter, concrete steps are as follows:
[0029] S1: Signal reception and processing
[0030] S1-1 Since the inertial navigation (INS) will not be affected by the multipath effect, the INS is used as a part of the Beidou receiver loop, and the position and speed information output by the INS are input into the Beidou receiver loop, and the inertial navigation system is used Collect the position and speed of the ship at sea, and record the position of the ship at sea as p u , denote the speed of the ship at sea as v u ;
[0031] S1-2 Collect the position of the Beidou satellite received by the Beidou receiver, the speed of the Beidou satellite, the receiving time of the Beidou receiver, the lower 19 bits of the handover word, the word of the navigation message data code, the number of bits in the current word and the C / A code The number of cycles of the navigation message, the position of the Beid...
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The present invention discloses a multi-path error elimination method of a Beidou receiver. The multi-path error elimination method of the Beidou receiver comprises a signal reception and processing step, a detection threshold construction step, and a step of comparing a pseudo-range remaining error with a detection threshold of the pseudo-range remaining error, and comparing a pseudo-range rate remaining error with a detection threshold of the pseudo-range rate remaining error to determine and detect a multi-path error and eliminate the multi-path error. The advantages of the present invention are that: the normal probability distribution characteristics of the pseudo-range remaining error and the pseudo-range rate remaining error are utilized to eliminate the multi-path error, an algorithm process is simple, at the same time, the updated values are used to substitute for the pseudo-range remaining error and the pseudo-range rate remaining error existing the multi-path error, so that the error is eliminated from the source of the error, and a multi-path elimination effect is good.
Description
technical field [0001] The invention relates to a multipath error elimination method, in particular to a multipath error elimination method for a Beidou receiver. Background technique [0002] In addition to receiving the direct IF signal of the Beidou satellite, the Beidou receiver in the Beidou maritime emergency position indicating mark will also inevitably receive the reflected IF signal reflected from the sea surface and obtained by down-conversion, because the paths of the direct IF signal and the reflected IF signal are different , the propagation delay of the direct IF signal and the reflected IF signal will also be different. The direct IF signal will be affected by the reflected IF signal and the direct IF signal will be deformed. The pseudo-range residual and the pseudo-range rate residual output after the phase detector have relatively large errors, and such errors are usually called multipath errors. Pseudorange residuals and pseudorange rate residuals are used...
Claims
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IPC IPC(8): G01S19/22
CPCG01S19/22
Inventor 刘琳琳杨瀚程李道涵欧正宝向东红
Owner NINGBO CHENGDIAN TAIKE ELECTRONICS INFORMATION TECH DEV