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Fixed-ambiguity PPP (Precise Point Positioning)/SINS (Starpdown Inertial Navigation System) tight combination positioning and attitude determining method

A technology of fixed ambiguity, positioning and attitude, applied in satellite radio beacon positioning systems, instruments, measuring devices, etc., can solve the application limitations of PPP/SINS combined technology, difficult to implement in difficult and remote areas, and the accuracy and reliability are not as good as differential GNSS and other issues to achieve the effect of accelerating re-convergence, improving success rate, and improving accuracy

Active Publication Date: 2017-12-01
WUHAN UNIV
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Problems solved by technology

However, differential GNSS technology requires the support of reference stations, and it is difficult to implement in difficult and remote areas such as deserts, mountains, islands and reefs
Therefore, PPP technology is regarded as an ideal means to solve the positioning of large-scale remote areas, but the traditional PPP uses floating-point ambiguity to solve, and its accuracy and reliability are not as good as differential GNSS, which leads to the application of PPP / SINS combination technology. limits

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  • Fixed-ambiguity PPP (Precise Point Positioning)/SINS (Starpdown Inertial Navigation System) tight combination positioning and attitude determining method

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[0028] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the implementation examples described here are only used to illustrate and explain the present invention, and are not intended to limit this invention.

[0029] The present invention provides a PPP / SINS tight combination positioning and attitude determination method with fixed ambiguity. The PPP / SINS tight combination method is adopted to carry out deep fusion of information at the level of original observation values, and high-precision position assistance is recursively used in a short period of time by inertial navigation. PPP floating-point ambiguity resolution, after obtaining high-precision floating-point PPP ambiguity, fix PPP ambiguity, fix wide-lane ambiguity and narrow-lane ambiguity in turn, and use ...

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Abstract

The invention provides a fixed-ambiguity PPP (Precise Point Positioning) / SINS (Starpdown Inertial Navigation System) tight combination positioning and attitude determining method, which is characterized in that a PPP / SINS tight combination mode is adopted, information deep integration is performed at an original observed value level, PPP floating point ambiguity calculation is assisted by using the high-precision location obtained by using inertial navigation in a recursive manner within a short time, the PPP ambiguity is fixed after the high-precision floating point ambiguity is obtained, the wide-lane ambiguity and the narrow-lane ambiguity are sequentially fixed, the reset of the state parameters are updated again by using the successfully fixed narrow-lane ambiguity, the ambiguity is kept to be fixed by adopting a transfer mode, and continuous high-precision positioning and attitude determining are realized. The method provided by the invention can significantly improve the accuracy and the reliability of PPP / SINS combined positioning and attitude determining, re-convergence and re-fixing of the PPP ambiguity can be accelerated particularly under a condition of GNSS signal interruption, and the availability of a PPP / SINS combination technology in a complex environment is enhanced.

Description

technical field [0001] The invention belongs to the field of GNSS / SINS integrated navigation, and relates to a PPP / SINS tight combination positioning and attitude determination method with fixed ambiguity. Background technique [0002] Precise Point Positioning (PPP) technology refers to the use of precision products provided by the Global Navigation Satellite System (Global Navigation Satellite System, GNSS) service organization (International GNSS Service, IGS), and the precise correction of various error models , a method for precise absolute positioning of a single station using pseudorange and carrier phase observations. However, due to the coupling of hardware delay and various errors in the PPP ambiguity, the ambiguity loses its integer characteristics and cannot be fixed. Traditional PPP positioning is mainly based on floating-point solutions. In recent years, with the improvement of the quality of satellite orbit clock error products and the fine processing of vari...

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Application Information

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IPC IPC(8): G01S19/44G01S19/47
CPCG01S19/44G01S19/47
Inventor 张小红朱锋张钰玺
Owner WUHAN UNIV
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