Carrier phase integer ambiguity measurement method for unmanned driving positioning and attitude measurement

Abstract

The invention discloses a carrier phase integer ambiguity measurement method for unmanned driving positioning and attitude measurement. The method comprises the following steps: constructing a calculation formula of wide lane ambiguity, judging whether cycle slip occurs or not, judging the influence of a cycle slip value on a calculation value, performing smooth calculation by utilizing a phase observation value, obtaining epoch cycle slip according to a TECR value, and calculating the cycle slip of an original carrier phase observation value. According to the invention, an MW combination method is adopted to eliminate atmospheric ionosphere and troposphere delay errors, station star geometric distance, satellite and receiver clock error. The method has long wavelength and high suitabilityfor solving the cycle slip problem in the dynamic environment. The ionosphere change rate is calculated by adopting the continuous phase observation value without cycle slip to detect the cycle slipand eliminate the influence of the geometric distance of the station satellite, the ionosphere change influence is considered, and the method is suitable for cycle slip detection in the dynamic environment, so that the resolution of the whole cycle ambiguity is facilitated.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to a carrier phase integer ambiguity measurement method for unmanned driving positioning and attitude measurement. Background technique [0002] In recent years, with the continuous development of the field of intelligent vehicles and the continuous maturity of the technology in the field of automatic control, the research on automatic control technology of automobiles has attracted more and more attention. In actual driving, unmanned vehicles should have The ability to position and drive under certain conditions. In the relative positioning of unmanned GNSS, to use the carrier phase observation value to achieve centimeter-level high-precision positioning, it is necessary to solve the key problem of determining the ambiguity of the whole circle. The premise of determining the ambiguity of the whole circle It means that there is no cycle slip in the effective ambiguity perio...

AI Technical Summary

Problems solved by technology

[0003] When the carrier is in motion, the complexity of the determination of the whole cycle ambiguity and cycle slip detection is manifested in the following aspects: the GNSS observation environment is changeable, the signal-to-noise ratio is low, the influence of multipath is complex, and the occurrence of cycle slips is more frequent; the carrier motion The complex and changeable state will lead to the inconspicuous change law of the phase observation value, so that the cycle slip detection method based on the station-satellite geometric change law will no longer be applicable; with the increase of the baseline length between stations under dynamic conditions, there is a strong spatial The associated ionospheric delay will be difficult to eliminate well through double difference; under high dynamic conditions, the ionospheric delay error of the observation value changes rapidly, making the detection of cycle slips more difficult. Traditional cycle slip detection and repair The method is prone to the problem of missed judgment and misjudgment of cycle jumps. Therefore, the present invention proposes a carrier phase integer ambiguity measurement method for unmanned positioning and attitude measurement to solve the problems existing in the prior art.

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