Pseudo range difference single-star high-dynamic positioning method in inertial navigation assistance

Abstract

The invention provides a pseudo range difference single-star high-dynamic positioning method in inertial navigation assistance, wherein the method comprises the steps of establishing a positioning equation by means of pseudo ranges generated by a single star at three time points and an alleviator output at a first time point; obtaining coordinate change amounts of a positioning target at a second time point, a third time point and the first time point in an earth-centered earth-fixed coordinate system by means of an inertial navigation system; substituting the coordinate change amounts into the positioning equation and solving through a least square method; establishing a state spatial model of a target dynamic process, constructing a state equation and a measuring equation which are related with Kalman filtering; using a least square result as an initial value of a Kalman filtering algorithm, and obtaining more accurate and smoother position information by means of continuous updating of a Kalman filter. According to the pseudo range difference single-star high dynamic positioning method, a single-star high-dynamic positioning algorithm model in inertial navigation assistance is established and the Kalman filtering algorithm is utilized, thereby settling a problem of positioning precision reduction caused by high dynamic characteristic of the target in single-star positioning, and improving positioning precision and precision maintainability in performing single-star positioning on the high-dynamic target.

Description

technical field [0001] The present invention is a high dynamic positioning method for a pseudo-range difference single-satellite under the aid of inertial navigation, in particular to a single-satellite positioning method assisted by a pseudo-range difference (Inertial Navigation System) Star high dynamic positioning method. Background technique [0002] Single-satellite positioning has the advantages of low cost, light weight, small size, and short development cycle. In the environment where constellation navigation is denied, single-satellite positioning can effectively supplement the lack of navigation constellations and realize the positioning of positioning targets. Under dynamic conditions, single-satellite positioning has the problem that the positioning accuracy decreases with the increase of dynamics. [0003] How to improve the positioning accuracy of single-satellite positioning under high dynamics is a research hotspot in the field of navigation. At present, th...

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Problems solved by technology

At present, the main method of single-satellite positioning is the frequency measurement single-satellite positioning method. This method uses the frequency measurement information of satellite transmission signals to construct multiple positioning radiation surfaces to achieve single-satellite positioning. However, when the radiation surface increases, the positioning error will increase rapidly; Angle and ranging single-satellite positioning method, which realizes target position calculation through distance, angle and user terminal speed assistance, but requires relatively high complexity of satellite payload; radial acceleration single-satellite positioning based on pseudo-range assistance method, this method obtains the radial acceleration of the ground stationary radiation source relative to the satellite according to the principle of kinematics to achieve positioning, but the accuracy is poor; the single-satellite positioning method based on integral Doppler measurement, this method uses the hyperboloid and the elevation information of the positioning target Realize positioning, which has low requirements for satellite payload, but is only suitable for positioning stationary targets; pseudo-range rate assisted single-satellite positioning algorithm, this method is based on the single-satellite positioning method of integral Doppler measurement Improved, higher positioning accuracy, but there is also a large error in the positioning of dynamic targets

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