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Inertial navigation assisted Beidou three-frequency carrier phase whole-cycle ambiguity calculation method

A technology of full-cycle ambiguity and carrier phase, applied in the field of positioning and navigation of the Beidou satellite system, can solve problems such as low real-time performance and environmental constraints, and achieve the effect of overcoming the interference of environmental factors, high precision, and facilitating solutions

Active Publication Date: 2018-11-13
SOUTHEAST UNIV
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Problems solved by technology

[0003] Purpose of the invention: In view of the characteristics of the Beidou navigation system, in order to overcome the shortcomings of LAMBDA and other methods such as low real-time performance and environmental constraints, the present invention proposes an inertial navigation-assisted Beidou triple-frequency carrier phase integer ambiguity solution method

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  • Inertial navigation assisted Beidou three-frequency carrier phase whole-cycle ambiguity calculation method

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[0034] The method of the present invention will be specifically described below in conjunction with the accompanying drawings and specific embodiments.

[0035] like figure 1 As shown, an inertial navigation assisted Beidou three-frequency carrier phase integer ambiguity solution method disclosed in the embodiment of the present invention mainly includes the following steps:

[0036] Step 1: Determine the BDS triple-frequency combination carrier phase double-difference and pseudo-range double-difference observation model, and obtain pseudo-range and carrier phase measurement values ​​from ephemeris information, intermediate frequency data, etc.

[0037] The observation equation of the double-difference pseudorange at time t is

[0038] φ ur =λ -1 (r ur (ij) +g ur (ij) +T ur (ij) -I ur (ij))+N ur (ij) +ε φ,ur (ij)

[0039] The double-difference carrier phase measurement is

[0040] ρ ur (ij) = r ur (ij) +g ur (ij) +T ur (ij) +I ur (ij) +ε ρ,ur (ij) ...

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Abstract

The invention discloses an inertial navigation assisted Beidou three-frequency carrier phase whole-cycle ambiguity calculation method. The method comprises the steps of firstly determining BDS three-frequency combination carrier phase double difference and a pseudo-range double difference observation model, and obtaining pseudo-range and carrier phase observation values; then taking different scaling factor values, and performing linear combination on the pseudo-range observation quantity and the carrier phase observation quantity to obtain a narrow-lane, wide-lane and ultra-wide lane carrierphase and pseudo-range observation equation and a carrier phase and pseudo-range observation equation under an ionized layer independent and geometric independent model; obtaining an INS observation equation by using inertial navigation; and simultaneously setting the carrier phase and pseudo-rang observation equations and the INS observation equation, and solving the equations by using a weightedleast square method to obtain a floating point solution of the whole-cycle ambiguity; and finally solving an integer value of the whole-cycle ambiguity by using the LAMBDA. The method introduces theinertial navigation information and calculates the solution by using redundancy of the equations, thereby being capable of effectively improving the solving precision of the whole-cycle ambiguity value, and being applicable to a high-precision positioning system of the Beidou satellite system.

Description

technical field [0001] The invention belongs to the technical field of positioning and navigation of the Beidou Satellite System (BDS), and in particular relates to a method for solving the ambiguity of the Beidou three-frequency carrier phase integer cycle assisted by inertial navigation. Background technique [0002] The solution of carrier phase integer ambiguity is one of the key issues in high precision positioning and navigation technology. In recent years, scholars at home and abroad have proposed many solutions to the problem of solving the ambiguity of the whole week of a single epoch. These schemes are mainly divided into two categories: first, the optimal linear combination method, which constructs combined observations such as narrow lane / wide lane / ultra-wide lane through dual-frequency or triple-frequency observations to eliminate the impact of errors on ambiguity resolution. Influence; Second, the search method, including the least squares search method, the l...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/44G01S19/47
CPCG01S19/44G01S19/47
Inventor 陈熙源张梦尧闫晣
Owner SOUTHEAST UNIV
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