Code pseudo-range/Doppler combined speed measurement method based on robust variance assembly estimation and application thereof

A technology of variance component estimation and code pseudorange, which is applied to measurement devices, radio wave measurement systems, instruments, etc., and can solve the problems of no output, dependence on the accuracy of positioning results, and poor practicability.

Active Publication Date: 2019-03-12
SOUTHEAST UNIV +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In detail, pseudo-range, carrier and Doppler observations can measure the receiver speed, and the average speed can be obtained by directly using the GNSS positioning results for position difference, but this is very dependent on the accuracy of the positioning results and is not very practical
In addition, the average speed in the differential time can be obtained by the pseudo-range difference between epochs, but due to the influence of code pseudo-range accuracy, the speed measurement error is large; the average speed in the differential time can also be obtained by using the phase difference between epochs, and The accuracy is high, but the carrier phase is susceptible to interference and frequent cycle slips, or even no output, and the reliability is low; Doppler observations can obtain high-precision instantaneous speed, which is not sensitive to orbital errors, receiver clock errors, and atmospheric errors , there is no cycle slip, and the influence of the pseudo-range single-point positioning error on the speed measurement accuracy is also at the millimeter level, which is a relatively practical and reliable observation value

Method used

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  • Code pseudo-range/Doppler combined speed measurement method based on robust variance assembly estimation and application thereof
  • Code pseudo-range/Doppler combined speed measurement method based on robust variance assembly estimation and application thereof
  • Code pseudo-range/Doppler combined speed measurement method based on robust variance assembly estimation and application thereof

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Effect test

Embodiment 1

[0059] A code pseudorange / Doppler joint velocity measurement method based on robust variance component estimation comprises the following specific steps:

[0060] Step 1), using observation information such as code pseudorange, Doppler, carrier-to-noise ratio, satellite elevation angle, etc. to establish a function model and a random model of speed measurement respectively, including the following specific steps:

[0061] a), the change rate of code pseudorange and carrier is obtained by means of difference between epochs, as shown in formula (1):

[0062]

[0063] In the formula, ρ and are code pseudoranges and their rate of change, respectively, and are the carrier phase and its rate of change, D is the Doppler observation value, Δt is the differential time, and the subscripts k and k+1 of each item are the kth moment and the k+1st moment, respectively.

[0064] b), using code pseudo-range and Doppler observations to establish a function model of speed measurement, ...

Embodiment 2

[0101] The following is an example of the application scenario of the code pseudorange / Doppler joint speed measurement method based on robust variance component estimation:

[0102] In order to comprehensively compare the actual calculation effect of the method proposed in the present invention, three test methods, such as static, static simulation dynamic and on-board dynamic, were designed, and were compared in four calculation schemes:

[0103] Scheme A: Least squares estimation, that is, directly use the prior random model and the function model of the joint speed measurement to solve the least squares adjustment.

[0104] Scheme B: Variance component estimation, that is, on the basis of scheme A, directly adopt the conventional method component estimation method to adjust the prior random model of pseudorange and Doppler.

[0105] Scheme C: Least squares robust estimation, that is, for the prior weight matrix of pseudorange and Doppler respectively, the weight of bad obse...

Embodiment 3

[0124] A global navigation satellite system, including a receiver, is characterized in that: the system includes a code pseudorange / Doppler joint velocity measurement method based on robust variance component estimation. The satellite data is collected through the receiver, and when the velocity is calculated, the observation data output by the receiver is calculated on the computing platform (such as a computer, mobile phone, etc.) and the velocity information is output or displayed.

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Abstract

The invention discloses a code pseudo-range/Doppler combined speed measurement method based on robust variance assembly estimation, which comprises the following steps: firstly, respectively establishing a speed measurement function model and a random model by adopting observation information such as code pseudo-range, Doppler, carrier-to-noise ratio, satellite altitude angle and the like, then adopting a least square robust estimation method to obtain a robust random model capable of inhibiting the influence of gross error, and finally combining a speed measurement function model of code pseudo-range and Doppler with the robust random model to form a combined speed measurement model. According to the method, the limitation that the conventional single-frequency satellite receiver only uses single information to measure the speed can be broken through, the influence of observation gross error can be inhibited, and the robustness, the unbiased property and the stability of the combinedspeed measurement method can be obviously improved.

Description

technical field [0001] The invention belongs to the technical field of GNSS (Global Navigation Satellite System) positioning and navigation, and in particular relates to code pseudorange / Doppler joint measurement of the moving speed of a receiver based on robust variance component estimation. Background technique [0002] Speed ​​is one of the important motion parameters in aviation flight, intelligent navigation, unmanned driving, maritime traffic and other fields. The high precision, real-time and cheap characteristics of GNSS speed measurement make it widely used in these fields. Through differential data simulation tests, foreign scholars have obtained the relationship between the speed measurement error and the carrier's motion speed and acceleration rate, and the error range ranges from sub-millimeters per second to several meters per second. Domestic scholars have also systematically analyzed and evaluated the speed measurement model and speed measurement accuracy of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/52
CPCG01S19/52
Inventor 潘树国刘国良闫志跃喻国荣高旺王彦恒张建张瑞成
Owner SOUTHEAST UNIV
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