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Self-adaptive filtering method for carrier smoothed code pseudorange

A technology of adaptive filtering and code pseudorange, applied in the field of satellite navigation, can solve the problem of inability to accurately estimate the system noise error, and achieve the effect of avoiding excessive result error and excellent filtering effect.

Inactive Publication Date: 2015-11-18
NO 20 RES INST OF CHINA ELECTRONICS TECH GRP
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Problems solved by technology

[0017] In order to overcome the deficiencies in the prior art, the present invention provides a system noise error adaptive Kalman filtering method for carrier smoothing code pseudo-range, which solves the problem that the system noise error cannot be accurately estimated in the process of carrier smoothing code pseudo-range Kalman filtering The problem

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  • Self-adaptive filtering method for carrier smoothed code pseudorange
  • Self-adaptive filtering method for carrier smoothed code pseudorange
  • Self-adaptive filtering method for carrier smoothed code pseudorange

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0036] Method provided by the invention comprises the following steps:

[0037] (1) Construct the basic equation of Kalman filter

[0038] The expression of the "α-β filter" carrier-smooth code pseudorange, such as formula (1), is changed equivalently, so that its structure is similar to the structure of the state estimation equation in the Kalman filter, such as formula (2).

[0039]

[0040] Thus, the expressions of the state estimation value, state estimation prediction value, filter gain, measurement value and measurement matrix in the Kalman filter are determined, which provides the basis for the subsequent design of the Kalman filter.

[0041] (2) Adaptive estimation of system noise error

[0042] Here, the maximum likelihood criterion is used to estimate and ada...

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Abstract

The invention provides a self-adaptive filtering method for a carrier smoothed code pseudorange. The method includes the steps: constructing a Kalman filtering basic equation, estimating and performing self-adaptive adjusting on a system noise error through the maximum likelihood criterion, carrying out carrier smoothed code pseudorange Kalman filtering, and obtaining the estimated system noise error after iteration. According to the method, the system noise is obtained without statistic analysis of a carrier smoothed code pseudorange system before filtering, a system noise empirical value is provided to serve as an initial value, and self-adaptive adjusting is performed on the system noise error during a subsequent process. In this way, pseudorange smoothed result errors caused by cycle slips are prevented from being too serious, and a filtering effect in a cycle clip condition is better than a conventional Kalman filtering effect.

Description

technical field [0001] The invention belongs to the field of satellite navigation, and relates to a system noise error self-adaptive Kalman filter method for carrier smoothing code pseudo-range in a satellite navigation ground-based augmentation system. Background technique [0002] At present, satellite navigation technology has shown strong competitiveness due to its characteristics of all-weather, wide coverage and low cost, and is widely used. Satellite navigation technology still needs continuous improvement in terms of positioning accuracy. Taking GPS as an example, the single-point positioning accuracy of GPS is roughly on the order of 10m, which is difficult to meet the positioning accuracy requirements of applications such as aircraft landing and ships entering and leaving ports. [0003] The ground-based augmentation technology uses the pseudo-range differential correction principle to improve the pseudo-range measurement accuracy, thereby improving the positioning...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/41G01S19/43
CPCG01S19/41G01S19/43
Inventor 梁思远王晓旺
Owner NO 20 RES INST OF CHINA ELECTRONICS TECH GRP
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