Pseudo-range feedback integrated navigation method for reducing multi-path interference

Abstract

The invention relates to a pseudo-range feedback integrated navigation method for reducing multi-path interference, to improve the satellite navigation positioning accuracy. The method is characterized by comprising the following steps: setting a pseudo-range residual rejection threshold, comparing the pseudo-range residual rejection threshold with a pseudo-range residual absolute value of each ofassociated navigation satellites, setting the satellites of which the respective pseudo-range residual absolute value is greater than the pseudo-range residual rejection threshold as the unusable satellites, setting the satellites of which the respective pseudo-range residual absolute value is less than or equal to the pseudo-range residual rejection threshold as the effective satellites, settingmeasured pseudo-range observed quantity of each of the effective satellites as the effective and usable measured pseudo-range observed quantity and participating in subsequent navigation solution, setting measured pseudo-range observed quantity of each of the unusable satellites as the unusable measured pseudo-range observed quantity for rejection, namely the subsequent navigation solution is notparticipated in. Therefore, the influence of the measured pseudo-range observed quantities with too large error generated by multipath interference on the satellite positioning accuracy is reduced oravoided.

Description

technical field [0001] The present invention relates to satellite navigation technology, in particular to a pseudo-range feedback integrated navigation method for reducing multipath interference. The method can be applied to an integrated navigation system combining a satellite navigation system and an inertial navigation system. The inertial navigation system ( INS) is composed of inertial sensors, which include accelerometers and gyroscopes, and the satellite navigation systems include China's Beidou system, the United States' GPS system, Russia's GLONASS system, Europe's GALILEO system, and new ones that may appear in the future satellite navigation system. Background technique [0002] The global satellite navigation system can provide global users with all-weather, continuous real-time, high-precision three-dimensional position and three-dimensional velocity information, and has the advantages of not accumulating errors over time. However, it also has disadvantages suc...

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Problems solved by technology

Therefore, when a signal channel of the receiver correlates the C / A code copied by its tracking loop with the received signal, the copied C / A code actually correlates with the direct wave and the transmitted wave at the same time, so the correlator The output result is the sum of these correlation values, so the corresponding error is introduced, which seriously affects the quality of the pseudo-range observation, resulting in a decrease in the measurement accuracy of satellite navigation, and in severe cases, it will also cause the signal to lose lock.

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