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

A technology of integrated navigation and multipath interference, which is applied in navigation, surveying and navigation, and navigation through speed/acceleration measurement, etc. It can solve the problems affecting the quality of pseudo-range observations, the decrease of satellite navigation measurement accuracy, and signal loss of lock, etc. , to achieve the effect of improving navigation and positioning accuracy, improving satellite navigation and positioning accuracy, and suppressing errors

Inactive Publication Date: 2018-06-29
北京北方联星科技有限公司
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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 o

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

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[0017] Below in conjunction with the attached drawings ( figure 1 ) Describe the present invention.

[0018] figure 1 It is a schematic flow diagram of a pseudo-range feedback integrated navigation method for reducing multipath interference of the present invention. Such as figure 1 As shown, the specific solutions of the present invention are as follows:

[0019] 1. The reference position obtained by the inertial navigation strapdown calculation of this epoch: using the combined navigation result of the previous epoch, the angular velocity of three degrees of freedom and the acceleration of three degrees of self-use collected by the three-axis gyroscope and three-axis accelerometer , Using the inertial navigation strapdown solution algorithm to obtain the three-dimensional reference predicted position coordinates of this epoch.

[0020] 2. Use the reference position obtained by the inertial navigation to calculate the reference pseudorange of each satellite: use the reference po...

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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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Application Information

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IPC IPC(8): G01S19/47G01C21/16
CPCG01C21/165G01S19/47
Inventor 不公告发明人
Owner 北京北方联星科技有限公司
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