Adaptive kinematic model-aided gnss carrier phase and Doppler fusion velocimetry

Abstract

The invention discloses a GNSS carrier phase and Doppler fusion speed measurement method assisted by an adaptive kinematics model. When the observation vector of the target carrier at the kth moment is available, the filtering result at the k-1th moment is used for filtering processing, Obtain the prior estimate of the state vector and the covariance matrix P at the kth time k|k‑1 , obtain the pseudo-observation vector, perform the least squares estimation, and obtain the a posteriori estimate of the state vector at the k-th moment. The covariance matrix P at the k-th moment k|k , estimate the covariance matrix P a posteriori on the state vector according to the reset matrix k|k and the cross-covariance matrix C k Carry out reset, determine the speed of the target carrier at the kth moment, let k=k+1, and continue to return to perform the process of determining the speed of the target carrier at the kth moment when the observation vector of the target carrier at the kth moment is available, with The velocity of the target carrier at the next moment is determined, and the determined velocity of the target carrier has high precision.

Description

technical field [0001] The invention relates to the technical field of real-time estimation of instantaneous velocity of carriers (such as vehicles, aircraft, satellites, pedestrians, etc.), in particular to an adaptive kinematics model-assisted GNSS carrier phase and Doppler fusion velocity measurement method. Background technique [0002] Speed ​​is an important parameter for carrier navigation. Accurate carrier speed estimation plays an important role in carrier operation planning, control and task execution. Generally, speed is divided into two types: average speed and instantaneous speed. The difference between these two speeds is in many In general, the more intense the carrier dynamics, the greater the difference between the two, and the greater the interval between epochs, the greater the difference between the two. [0003] GNSS technology has become one of the most important and widely used navigation technology. The technology is low in cost, high in precision, s...

AI Technical Summary

Problems solved by technology

Among the three methods, the time difference carrier phase method has the highest accuracy, and the position time difference method has the lowest accuracy in general

[0004] As mentioned earlier, the Doppler method and the time difference carrier phase method have their own advantages and disadvantages in speed measurement: although the accuracy of the Doppler method is not as good as the time difference carrier phase method, the measured speed is the theoretical instantaneous speed

However, the dynamic characteristics of the carrier are generally time-varying. In the traditional scheme, the determined kinematics model is likely to affect the accuracy of velocity estimation, and will also cause a decrease in the accuracy of velocity estimation.

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