A highly dynamic GNSS vector tracking method combining error and non-error modeling

Abstract

The invention relates to a high dynamic GNSS vector tracking method with combination of error and non-error modeling. The method comprises: (1), extracting track measurement data of a navigation system to obtain an observed quantity Z; (2), carrying out initialization for first-time entrance to a vector tracking module; (3), carrying out related matrix prediction including state quantity X, mean square error matrix P, and carrier position information prediction; (4), calculating a measurement matrix H and an observation noise array R; (5), calculating optimal estimatin values of a filter gain matrix K and a state quantity X and updating carrier position information; (6), with consideration of a carrier acceleration speed, calculating a carrier error and a code phase error and correcting a loop; (7), updating the mean square error matrix P; and (8), waiting for entrance to a next filter cycle. Therefore, the carrier acceleration estimation can be realized under the circumstance that receiver sensitivity is not affected; and a carrier loop steady-state error caused by the carrier acceleration motion is corrected, so that high dynamic carrier tracking is realized.

Description

technical field [0001] The invention relates to a highly dynamic GNSS (Global Navigation Satellite System, Global Navigation Satellite System) vector tracking method combining error and non-error modeling, which belongs to the technical field of satellite navigation. Background technique [0002] With the development of aerospace technology, vector multi-channel joint tracking has attracted extensive attention because of its advantages such as high dynamics, high sensitivity, and anti-interference. In the traditional loop, the tracking of satellite signals by each channel is independent of each other, and the correlation of different satellite signals is ignored, resulting in insufficient utilization of information. The vector algorithm combines the fusion filtering of the multi-channel signal with the positioning calculation by utilizing the geometric distribution information of the receiver and the satellite, and improves the overall working performance of the receiver. ...

AI Technical Summary

Problems solved by technology

[0004] Under the current model, the accelerated motion of the carrier will cause a steady-state error in the carrier loop, and the increase in acceleration will cause the error output of the discriminator to exceed the upper limit, causing problems in the correction of the error, making the carrier loop unable to track further

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