Self-adjustment Kalman filtering-based pseudo-range smoothing method by using Doppler frequency shift and carrier phase
A phase-smoothing pseudo-range and Kalman filtering technology, applied in radio wave measurement systems, satellite radio beacon positioning systems, measurement devices, etc. Weeks etc.
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[0062] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, and do not limit the protection scope of the present invention.
[0063] combine figure 1 , give an optimal embodiment of a self-adjusting Kalman filter-based Doppler-assisted carrier phase smoothing pseudorange method of the present invention: use a self-built base station to collect data for testing, the data duration is 24 hours, and the epoch interval is 1s, the time of data collection is May 17, 2016. For each satellite, the following steps are involved:
[0064] (1) Set a window length N, and use the method of averaging to calculate the N-1th epoch t N-1 code pseudorange estimates The calculation method is explained in d...
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