Data fusion method suitable for positioning, navigating and time service microsystem

Abstract

The invention discloses a data fusion method suitable for a positioning, navigating and time service microsystem. The method comprises the following steps: S1: supplying the output of an atomic clock to a navigation computer to serve as a crystal oscillator, analyzing information latched after a baseband signal is processed to obtain ephemeris, pseudorange and pseudo-range rate information; S2: carrying out data fusion on a micro inertia navigation module and a Beidou navigation module on the navigation computer: providing a time reference by the chip atomic clock, calculating carrier positions and speed information resolved by the micro inertia navigation module and satellite position and speed information provided by the ephemeris provided by the Beidou navigation module to obtain the pseudorange and the pseudo-range rate of the carrier; meanwhile, resolving by the Beidou navigation module to obtain the pseudorange and the pseudo-range rate, and then, carrying out combined Kalman filtering on the basis of a difference of the pseudorange and the pseudo-range rate to obtain the position, the speed and the gesture error of the carrier to correct the system. According to the method, the chip atomic clock, the Beidou navigation module and the micro inertia navigation module are connected to improve navigation accuracy and time service accuracy.

Description

[0001] 1. Technical field [0002] The invention relates to the technical field of integrated navigation, in particular to a data fusion method suitable for positioning, navigation and timing microsystems. [0003] 2. Background technology [0004] Due to its high precision, no long-term drift, all-weather full-time work, wide coverage area, near-real-time output of navigation data, and low terminal cost, the satellite navigation system has won extensive and in-depth applications in both military and civilian fields. application. With the satellite navigation system as the core, the positioning, navigation and timing technology can provide various users with precise positioning, navigation and timing services under a unified space-time reference. [0005] Existing various navigation systems have their advantages and characteristics respectively, but there are also deficiencies in themselves. The inertial navigation system has strong autonomy and complete functions, but its er...

AI Technical Summary

Problems solved by technology

However, the accuracy of the current miniature inertial sensor is still relatively low, resulting in certain restrictions on its application.

The global positioning system can provide full-time, global, and all-weather high-precision speed measurement and positioning services, but it has problems such as poor autonomy, reliability, and susceptibility to interference, so it is difficult to meet the requirements of real-time measurement

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