Multipath and observation noise abnormity integrity detection method based on dynamic-to-dynamic platform

Abstract

The invention belongs to the field of autonomous integrity monitoring and relates to a multipath and observation noise abnormity integrity detection method based on a dynamic-to-dynamic platform. Withthe method adopted, the multipath and observation noise autonomy monitoring of the local area enhanced global navigation satellite system of the dynamic-to-dynamic platform is achieved under the condition of no reference benchmark constraint, and the requirement of the system for the integrity of observation data quality is met. The method comprises the following steps of: constructing a double-difference pseudo-range and carrier phase observation model of original observation data, and constructing an MW combination by utilizing the carrier phase and pseudo-range double-difference observation quantity model; based on a wavelength-to-noise ratio maximization principle, a Beidou three-frequency combination coefficient is selected to rapidly and reliably solve MW ultra-wide lane ambiguity and the like. Under the condition of no reference benchmark constraint, a false alarm rate and an omission ratio are synchronously controlled by using detection thresholds, the availability of the datacan be effectively and timely judged, multipath and observation noise abnormity warning is carried out, and unavailable data is eliminated; the continuity requirement and integrity risk of the dynamic-to-dynamic platform system on the quality of the observation data are met.

Description

technical field [0001] The invention belongs to the field of autonomous integrity monitoring (Receiver Autonomous Integrity Monitoring, RAIM), and specifically relates to a method to realize the local enhancement of the global navigation satellite system (Global Navigation Satellite System, GNSS) multipath of the mobile-to-mobile platform under the condition of no reference reference constraints. Autonomous monitoring of observation noise and observational noise, and an integrity detection method based on multipath and observational noise anomalies of the moving-to-moving platform that meets the integrity requirements of the observation data quality of the system. Background technique [0002] There are many factors that affect precise positioning, such as the atmospheric propagation delay of the signal, satellite and receiver-related errors, and so on. Nowadays, these sources of error influence have been deeply understood, and many methods to effectively eliminate or weaken...

AI Technical Summary

Problems solved by technology

[0003] The improvement of antenna and receiver hardware technology has greatly improved the impact of multipath effects, but it will increase the cost a lot and it is difficult to popularize

The usual practice is to ignore the influence of multipath and observation noise in the positioning solution model, which is applicable to general environments, but in harsh application environments such as urban canyons, the influence of multipath and observation noise on pseudoranges may be Reaching the meter level, the impact on the carrier phase can reach the centimeter level, and even cause the signal to lose lock, which is one of the important risk sources that affect the precise positioning of the receiver in harsh environments

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