Multi-constellation GNSS fusion high-precision dynamic positioning method under complex environmental conditions

Abstract

The invention discloses a multi-constellation GNSS fusion high-precision dynamic positioning method under complex environmental conditions. The method comprises the following steps of step1, acquiringa floating point ambiguity solution set b<^> and a variance-covariance matrix Qb<^>, decomposing the b<^> and the Qb<^> and acquiring a whole cycle ambiguity value, if the whole cycle ambiguity valuesatisfies a setting requirement, entering into a step4, otherwise, entering into a step2; step2, removing the ambiguity of an ith satellite from the b<^>, then carrying out ambiguity decomposition, and acquiring the distance sni between a Ratio value ratioi and a floating point ambiguity, and an optimal whole cycle ambiguity; step3, grouping the ratioi and the sni according to a setting thresholdvalue, and then determining an optimal ambiguity subset, and according to the optimal ambiguity subset, carrying out whole cycle ambiguity calculation and acquiring a whole cycle ambiguity value; andstep4, according to the whole cycle ambiguity value, carrying out GNSS fixed solution calculation, and acquiring a GNSS dynamic positioning result. In the invention, the influence of the floating point ambiguity with a large deviation on ambiguity decomposition can be effectively avoided, the ambiguity can be rapidly fixed, and the correctness and the reliability of a GNSS positioning result areensured.

Description

technical field [0001] The invention relates to the technical field of high-precision global satellite navigation and positioning, in particular to a multi-constellation GNSS fusion high-precision dynamic positioning method suitable for complex environmental conditions. Background technique [0002] The prerequisite for realizing GNSS fast and high-precision dynamic positioning is fast and correct decomposition of ambiguity. With the development of multi-constellation (including: Beidou, GPS, GLONASS, Galileo, etc.) satellite navigation systems, the number of visible satellites is increasing, and multi-constellation GNSS fusion positioning has become an important development direction. Multi-system fusion not only improves the accuracy and reliability of positioning results, but also improves the conditions of ambiguity decomposition, which is conducive to improving the success rate of ambiguity decomposition. Since GNSS signal occlusion is a crucial factor affecting GNSS p...

AI Technical Summary

Problems solved by technology

The success rate of ambiguity decomposition is used as a criterion to select ambiguity subsets. Although the correlation between ambiguities is considered, the factor of floating-point ambiguity is not considered.

Therefore, when GNSS fast and high-precision dynamic positioning is performed in a complex urban observation environment, using the satellite altitude angle, the variance size of floating-point ambiguity solutions, and the success rate of ambiguity decomposition as the selection criteria for ambiguity subsets cannot ensure rapid positioning. Select a set of reliable ambiguity subsets

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