Adaptive satellite-navigation multi-mode relative positioning method

Abstract

The invention provides an adaptive satellite-navigation multi-mode relative positioning method. According to a distance segment, relative positioning is divided into pseudo-range difference, carrier-wave phase smoothing code pseudo-range difference and carrier wave phase difference modes. According to the precision levels of three positioning modes and the distance requirements of different guiding phase, the effect distance of a pseudo-range difference positioning mode is divided in a range from 40km to 20km, the effect distance of a carrier-wave phase smoothing code pseudo-range difference positioning mode is divided in a range from 20km to 5km, and the effect distance of a carrier wave phase difference positioning mode is divided in a range from 5km to 0km. During switching, smooth filtering processing is performed on the positioning results of two different modes, and the stability of the positioning results is guaranteed. In the invention, algorithm operation pressure is mitigated, the stability of a relative positioning result during a whole guiding process can be increased and a high engineering application value is possessed.

Description

technical field [0001] The invention belongs to the field of satellite navigation, and is an adaptive multi-mode relative positioning method in a satellite navigation relative positioning system. Background technique [0002] The satellite navigation relative positioning system is a system based on the principle of satellite navigation differential relative positioning technology. It can be used in applications such as precision landing, spacecraft rendezvous and docking, and autonomous refueling in the air. It can provide relative position information for guidance for these applications. [0003] Satellite navigation relative positioning system can be divided into pseudo-range difference, carrier phase smoothing pseudo-range difference, and carrier phase difference technology according to the technical classification. Among the three relative positioning techniques, the pseudo-range difference is simple and reliable, does not need carrier phase measurement information, does...

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Problems solved by technology

Therefore, if the pseudo-range differential mode is selected for relative guidance during the whole guidance process, the relative positioning accuracy cannot be met in the final stage of guidance due to its low relative positioning accuracy; if the carrier phase differential mode is selected for relative guidance, although the relative positioning accuracy The highest, but it increases the computational complexity and the positioning solution is unstable in the whole process

[0005] At present, the relative positioning accuracy index proposed for applications such as precision landing, spacecraft rendezvous and docking, and aerial autonomous refueling is only the highest accuracy index requirement for the final guidance stage. For the positioning used in the whole process from long-distance guidance to short-distance guidance There is no uniform requirement for the mode

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