Inertia auxiliary multichannel mixed type vector tracking method

An inertial-assisted, vector-tracking technology, applied to measuring devices, radio wave measurement systems, satellite radio beacon positioning systems, etc., can solve problems such as incoherent integration and limited non-coherent integration gain

Active Publication Date: 2015-12-30
SOUTHEAST UNIV
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Problems solved by technology

The square operation in the non-coherent integration changes the statistical characteristics of the noise, and the noise increases with the increase of the non-coherent integration time. The attenuation caused by the square operation is called "square attenuation". Due to the existence of the square attenuation, The gain of non-coherent integration is limited. In addition, due to the existence of time-varying Doppler frequency shift, the gain of integration will decrease rapidly with the extension of non-coherent integration time. Therefore, without other external auxiliary information (the receiver speed provided by INS and position information), long-term non-coherent integration cannot be performed

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Embodiment Construction

[0040] Below in conjunction with accompanying drawing, the technical scheme of invention is described in detail:

[0041] Such as figure 1 Shown, the navigation filter module of INS / NLSVTL described in the present invention, the concrete steps of construction process are as follows:

[0042]In the INS / NLSVTL tracking loop, we estimate the position P of the GPS receiver at time t using a nonlinear minimum estimator t , the speed V of the GPS receiver t , Clock difference t of GPS receiver b,t (unit: second) and clock drift t d,t (unit: second / second).

[0043] According to the definition of least squares estimation, we can get the following relationship:

[0044] N L = ∫ T k T k + T [ S ( t ...

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Abstract

The invention discloses an inertia auxiliary multichannel mixed type vector tracking method which is applicable to seamless positioning in a weak GPS satellite signal environment. The method is characterized in that: an INS system is introduced, so that during the coherent integration process, generation of more accurate local recurrence carrier frequency can be facilitated by using the velocity information provided by the INS, adverse influence of Doppler frequency change to coherent integration gain is reduced, and the coherent integration time is prolonged. Compared with the traditional incoherent integration method, the method has the following advantages: in an INS / NLSVTL tracking loop, incoherent integration is realized not through calculating the quadratic sum of a plurality of continuous coherent integration in a certain tracking channel but through adopting the method in which square of coherent integration in different satellite tracking channels is summed, so that the influence of square loss is reduced; besides, sufficient gain can be obtained in integral time much shorter than that of the traditional incoherent integration method; finally, the integral time is shorter, so that the influence of Doppler frequency shift to integral gain is smaller.

Description

technical field [0001] The invention studies the intelligent ultra-tight combination navigation technology of the GPS software receiver and the low-cost inertial sensor on the basis of the GPS software receiver, and is suitable for seamless positioning in a weak satellite signal environment. Background technique [0002] Inertial navigation is an autonomous navigation system that does not depend on any external information and does not radiate energy outward. It has the advantages of good maneuverability, strong environmental adaptability, and high short-term accuracy. However, because the error of the inertial navigation system accumulates over time, the navigation accuracy diverges over time, and it cannot work alone for a long time. The GPS navigation system realizes navigation by receiving satellite signals, and has good stability for a long time, easy to use, and low cost. It can be seen that in order to meet the navigation requirements of large positioning coverage wi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47
CPCG01S19/47
Inventor 陈熙源杨阳王熙赢崔冰波
Owner SOUTHEAST UNIV
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