GNSS satellite selection method based on robust least square

Abstract

The invention discloses a GNSS (Global Navigation Satellite System) satellite selection method based on robust least square, which comprises the following steps: (1) constructing a pseudo range measurement model; (2) setting the priori value of a weight matrix, and solving the pseudo range measurement model constructed in step (1) by using the least square technology to get the receiver position solution and the clock error; (3) calculating the standard residual according to the receiver position solution and the clock error, and using a robust equivalent weight coefficient to update the weight matrix; and (4) judging and analyzing the weight of each satellite according to the updated weight matrix; if the weight of a satellite is equal to 0, eliminating the satellite from the pseudo rangemeasurement model, extracting the corresponding element of the weight matrix, recalculating the receiver position solution and the clock error by using the least square technology, and transferring the receiver position solution and the clock error to step (3) to make iterative analysis; and if the weights of all satellites are not equal to 0, outputting available satellites, and ending the satellite selection program. Through the method, the weight of each observation satellite can be adaptively adjusted, and satellites with poor observation quality can be eliminated.

Description

technical field [0001] The invention belongs to the technical field of satellite navigation, and more specifically relates to a satellite selection method for a multi-constellation satellite navigation system. Background technique [0002] Global Navigation Satellite System (GNSS, Global Navigation Satellite System) is a comprehensive system that uses radio signals emitted by artificial earth satellites for navigation. The satellite navigation system that can provide navigation services on a global scale can provide users with global, all-weather, Real-time 3D navigation service. Compared with other navigation technologies, GNSS-based navigation technology has technical advantages such as low cost, high precision, no drift, wide coverage, and high real-time performance. The high-speed moving aircraft provides high-precision positioning, constant speed and precise timing services. [0003] With the application of GNSS in the military and civilian fields more and more widely...

AI Technical Summary

Problems solved by technology

[0006] (2) Low efficiency and low real-time performance

The traditional GDOP method sets different numbers, and the included satellites are arranged and combined by the total number of satellites, and then search iterations are performed according to the given number of combinations. When the number of observed satellites increases, the amount of calculation for star selection will be greatly increased. , reducing computational efficiency and real-time

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