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Integer ambiguity Kalman filtering algorithm based on inertial navigation assistance

A technology of integer ambiguity and filtering algorithm, applied in radio wave measurement system, satellite radio beacon positioning system, measurement device, etc., to achieve the effects of easy engineering implementation, improved dynamic adaptability, and simple algorithm application

Active Publication Date: 2020-01-03
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0004] The purpose of the present invention is to provide a Kalman filter algorithm based on the integral ambiguity assisted by inertial navigation, which can overcome the divergence phenomenon caused by inaccurate models, and thus solve the high dynamic solution problem well

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  • Integer ambiguity Kalman filtering algorithm based on inertial navigation assistance
  • Integer ambiguity Kalman filtering algorithm based on inertial navigation assistance
  • Integer ambiguity Kalman filtering algorithm based on inertial navigation assistance

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Embodiment Construction

[0038] The present invention is described in detail below in conjunction with specific embodiment:

[0039] A kind of integer ambiguity Kalman filter algorithm based on inertial navigation assistance, it comprises the following steps:

[0040] (1) Satellite acquisition tracking and synchronization

[0041] The reference station and the rover capture satellite navigation signals in sequence, and perform bit synchronization and frame synchronization to the tracking satellites;

[0042] (2) Observation extraction

[0043] Extract the satellite pseudorange and carrier phase observations after frame synchronization, and obtain the ephemeris parameters of each navigation satellite after frame synchronization;

[0044] (3) Determine the satellite position and speed calculation

[0045] According to the satellite position calculation method provided by the satellite navigation interface control file (ICD), input the satellite launch time and ephemeris parameters to calculate the sa...

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Abstract

The invention discloses an integer ambiguity Kalman filtering algorithm based on inertial navigation assistance. The integer ambiguity Kalman filtering algorithm comprises the following steps: acquisition tracking and synchronization for a satellite; observation measurement and extraction; determination of position and speed calculation of the satellite; establishment of a Kalman filtering model;filtering estimation; and calculation of an integer ambiguity. The integer ambiguity Kalman filtering algorithm has advantages as follows: the integer ambiguity Kalman filtering algorithm utilizes a Kalman filter based on the inertial navigation assistance to estimate a float solution of the integer ambiguity, improving dynamic adaptability of the ambiguity solution. The algorithm is simple in useand free from complicated or huge-computation equations. The real-time performance and computation burden of the algorithm can be ensured to implement on DSP or FPGA hardware platforms by arithmeticprogramming, and easy to implement in engineering.

Description

technical field [0001] The invention belongs to a satellite navigation differential receiver calculation method, in particular to a Kalman filtering algorithm assisted by inertial navigation acceleration information, which is used to improve the dynamic adaptability of ambiguity floating-point solutions. Background technique [0002] Carrier phase-based dynamic differential technology (RTK technology) is a high-precision positioning technology, which has a wide range of applications, such as high-precision navigation guidance, UAV approach and landing, and so on. The key of RTK technology is the fast and accurate solution of the ambiguity of the whole circle. Among them, the most widely used ambiguity resolution algorithm is the LAMBDA algorithm, which is divided into two processes: ambiguity real number estimation and ambiguity integer search. The real estimate of the ambiguity provides an initial search value for the ambiguity parameter, usually a floating point number. ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/44
CPCG01S19/44
Inventor 高亚豪李峰左启耀袁晓宇胡文涛
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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