Method for rejecting abnormal satellites in satellite navigation positioning

Abstract

The invention discloses a method for rejecting abnormal satellites in satellite navigation positioning. Before starting of positioning iteration, rejection is performed multiple times by combining real application scenes according to resolving information; and the influence on a final positioning result by abnormal satellites and abnormal measurement values can be reduced to be in a receivable range by using an extremely low calculation amount. During the positioning iteration process, the balance of positioning precision and accuracy is sought by utilizing the satellite distribution and pseudo-range residual error information fully. The method has advantages of low calculation load, low logic complexity and stable and reliable result.

Description

technical field [0001] The invention relates to the technical field of satellite positioning in the communication field, in particular to a method for eliminating abnormal satellites in satellite navigation and positioning. Background technique [0002] Satellite navigation positioning requires the receiver to output positioning results accurately, continuously, stably and effectively. In order to achieve this requirement, receiver integrity monitoring (RAIM) is usually used. The RAIM algorithm is based on the comprehensive analysis of the environment in which the receiver itself is located, and uses redundant information for measurement value fault monitoring and troubleshooting. The higher the redundancy , the higher the effectiveness and reliability of the algorithm. Conventional RAIM detection methods widely used at present mainly include pseudorange residual detection method and least square residual method. Both of these methods require the receiver to have positioni...

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Problems solved by technology

Both of these methods require the receiver to have positioning prior information. When the positioning prior information is missing, it may directly lead to positioning errors, so that it cannot enter the conventional RAIM detection to find and eliminate wrong satellites.

[0003] Searched the domestic and foreign databases for the existing technology, and authorized the patent "a satellite navigation RAIM multi-satellite fault detection and identification method" (201410502296.7), which was published in 2014. The method of single-step and step-by-step detection and identification of multiple faulty satellites by the likelihood method, its application scenario is still for the information after positioning; the authorized patent "RAIM new method based on satellite selection algorithm in multi-mode satellite navigation system" (201310455375.2), Published in 2013, it provides an optimization scheme to determine the spatial position information of satellites according to the navigation message, exclude satellites with lower elevation angles according to the shading angle, and select the satellite combination with the smallest GDOP. Its application scenario mainly lies in the optimization of satellite spatial distribution. The application area has strong limitations; the authorized patent "RAIM Implementation Method and Device for Satellite Navigation Receiver" (201610038660.8), published in 2016, proposes to remove abnormal satellites by taking turns to remove the satellites participating in the positioning. , this method is computationally intensive and time-consuming; the paper "Design and Implementation of RAIM Algorithm for BDS" was published in "Journal of Navigation and Positioning" in March 2018, and the paper still analyzes the cut-off altitude angle, the number of visible satellites and the DOP value , the abnormal identification is not comprehensive enough; the paper "Beidou Navigation System Receiver Autonomous Integrity Monitoring Algorithm and Performance Analysis", published in "Journal of Naval Aeronautical Engineering Academy" in November 2016, the paper still adopts the least squares method to optimize, through Assuming that there is a fault in the satellite for troubleshooting, the identification of abnormalities is not comprehensive enough, and the amount of calculation is high

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