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A GNSS multi-source information fusion navigation method for suppressing multi-path at sea

A technology of multi-source information fusion and navigation method, applied in the field of calculation, calculation or counting, can solve the problem of simple multi-path error model, and achieve the effect of improving positioning accuracy and low cost

Active Publication Date: 2022-04-08
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0006] The invention purpose of the present invention is to aim at the deficiency of above-mentioned background technology, provide a kind of GNSS multi-source information fusion navigation method for restraining multi-path at sea, realize the fusion of GNSS multi-source information under strong multi-path effect on sea surface, solve At present, there are few multi-source information fusion integrated navigation methods based on multi-path error correction for maritime application scenarios and the technical problems that the existing multi-path error model is too simple

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  • A GNSS multi-source information fusion navigation method for suppressing multi-path at sea

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Embodiment Construction

[0029] The technical solution of the invention will be described in detail below in conjunction with the accompanying drawings.

[0030] For the multi-path scene on the sea surface, the data information of GNSS, IMU and millimeter-wave radar is collected, and the multi-path error model is obtained by real-time analysis and processing of the multi-path environment on the sea surface based on the random forest algorithm. The multi-path error model is used to correct the GNSS data. The factor graph optimization algorithm is fused with IMU and millimeter-wave radar to estimate the position and dynamic information of the aircraft, and output more accurate and reliable positioning and navigation data.

[0031] The GNSS\IMU\millimeter-wave radar integrated navigation scheme disclosed in this application suppresses the multipath effect of maritime UAV positioning, such as figure 2 As shown, there are three stages.

[0032] The first stage is the construction of the GNSS multipath er...

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Abstract

The invention discloses a GNSS multi-source information fusion navigation method for suppressing maritime multi-path, belonging to the technical field of calculation, calculation or counting. Using the long-term observation on the sea surface to obtain the GNSS signal and combining the sea surface wind information to establish a multi-path error model, the multi-path error correction of the collected GNSS signal is carried out according to the real-time altitude of the aircraft to the sea surface and the real-time weather, and the basic error of the IMU and the device error are used as variable nodes. , construct a GNSS factor node for the variable node that receives the GNSS data, take the difference between the IMU measurement data and the GNSS data as the cost function of the GNSS factor node, and construct the variable node that receives the measurement data from other sensors using the variable node measurement The difference between the data and other sensor measurement data is the factor node of the cost function, and the final aircraft positioning result is determined by solving the factor graph, which realizes the position calculation in the complex multi-path environment on the sea surface.

Description

technical field [0001] The invention discloses a GNSS multi-source information fusion navigation method for suppressing multi-path at sea, and belongs to the technical field of calculation, calculation or counting. Background technique [0002] In recent years, with the development of satellite positioning technology in the application of marine aircraft, the demand for improving the accuracy of positioning technology is constantly increasing. The current aircraft positioning accuracy can meet most of the meter-level applications, while maritime emergency rescue, maritime precision construction, etc. Some special safety-related applications require decimeter or even centimeter-level positioning accuracy to meet the accuracy requirements. Accurately knowing the 3D position information of maritime aircraft is crucial for these applications, and the strong multipath effect on the sea seriously affects aircraft positioning. precision. Among the various GNSS errors, errors such ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/45G01S19/47
CPCG01S19/45G01S19/47
Inventor 孙蕊程琦邱明瞿逢重林挺
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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