GNSS (Global Navigation Satellite System)-based Kalman relative positioning method
A relative positioning and relative position technology, applied in the field of satellite navigation, can solve the problems of reducing the real-time performance and reliability of the relative positioning system, low ambiguity floating point solution accuracy, and long ambiguity fixed time.
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[0036] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
[0037] The following will be attached figure 1 And the technical scheme further describes the specific implementation process of the present invention in detail.
[0038] Step 1: Double difference carrier phase establishment
[0039] For receiver A to receive the s-th GNSS satellite, its pseudorange observations and carrier phase observations are:
[0040]
[0041]
[0042] Where They are the pseudo-rang...
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