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GNSS precise positioning method based on multi-dimensional particle filter deviation estimation

A particle filtering and precise positioning technology, which is applied in the field of satellite positioning system and positioning measurement, and can solve the problems of prolonged positioning time of observation data and intractable error value change.

Active Publication Date: 2018-02-23
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

However, increasing the observation data will prolong the positioning time; the method of using the prior value requires the prior value to have high reliability, needs to be measured in advance and is difficult to deal with the change of the error value

Method used

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  • GNSS precise positioning method based on multi-dimensional particle filter deviation estimation
  • GNSS precise positioning method based on multi-dimensional particle filter deviation estimation
  • GNSS precise positioning method based on multi-dimensional particle filter deviation estimation

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Embodiment Construction

[0078] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0079] Such as figure 1 As shown, a GNSS precise positioning method based on multidimensional particle filter bias estimation includes the following steps:

[0080] Step 1: Preprocess the satellite navigation data, import satellite ephemeris, current epoch pseudo-range observations and current epoch phase observations;

[0081] Usually preprocessing includes data format conversion, gross error detection and elimination, cycle slip detection and repair, etc.

[0082] Step 2: Establish and linearize the observation value equation containing multiple error parameters to obtain the single epoch method equation or the previous epoch accumulation method equation.

[0083] The pseudo-range non-difference observation equation of GNSS system is:

[0084]

[0085] The phase non-difference observation equation of GNSS system is:

[0086]

[0087...

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Abstract

The invention discloses a GNSS precise positioning method based on multi-dimensional particle filter deviation estimation. The method comprises: step one, carrying out data pretreatment and inputtinga satellite ephemeris, a current epoch pseudo-range observation value, and a current epoch phase observation value; step two, building a GNSS double-difference observation equation and carrying out linearization to obtain a single epoch normal equation or an epoch-accumulation normal equation; step three, calculating the normal equation by using a corresponding offset in a particle correction normal equation with multiple particle values; updating a particle filter weight and calculating a numerical value of a fractional part of the offset between the phase systems and a particle mean square root based on the weighted particle; step four, repeating the steps one to three, outputting a corresponding offset estimation value and a corresponding variance after filter convergence; and step five, according to an estimation value of an error parameter, correcting the offset value in the observation value or the normal equation and fixing a full-cycle fuzziness value to realize precise positioning. With the method disclosed by the invention, simultaneous estimation of multiple GNSS offset parameters by particle filtering is realized and precise relative positioning is realized by using a few of observation satellites.

Description

technical field [0001] The invention relates to the technical field of satellite positioning system and positioning measurement, in particular to a GNSS precise positioning method based on multidimensional particle filter deviation estimation. Background technique [0002] Global satellite navigation system GNSS is more and more widely used in the field of precision positioning; GNSS observations include tropospheric and ionospheric delay errors, GLONASS FDMA signal inter-frequency deviation, multi-system GNSS positioning system deviation, etc. In data processing for GNSS precise positioning, these errors in phase observations need to be eliminated or estimated. There may be more than one error unknown parameter in the GNSS phase observation value at the same time. For example, in the GNS multi-mode positioning in which the GLONSS system participates, the inter-frequency deviation of GLONASS and the inter-system deviation of other constellations will exist at the same time. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/44
CPCG01S19/44
Inventor 田玉淼刘志赵葛茂荣袁林果黄丁发周乐韬
Owner SOUTHWEST JIAOTONG UNIV
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