Beidou GNSS satellite real-time positioning and orientation data preprocessing system and method

Abstract

The invention relates to a Beidou GNSS satellite real-time positioning and orientation data preprocessing system and method. The method comprises the following steps of inputting carrier phase observation values, pseudo-range observation values and broadcast ephemeris of a plurality of Beidou / GNSS satellites of an observation station 1 and an observation station 2, utilizing a satellite position calculation standard algorithm to respectively calculate each satellite coordinate and a clock error correction number, comprehensively using a pseudo-range positioning residual analysis method, an inter-station single-difference GF and MW combined observation value method and a high-order difference method for detecting pseudo-range gross errors and carrier phase cycle slips, acquiring all data through calculation, conducting cycle slip judgment and residual judgment before and after pseudo-range positioning verification, and finally acquiring observation data high in effectiveness and reliability. The pseudo-range positioning residual analysis method, the inter-station single-difference GF and MW combined observation value method and the high-order difference method are comprehensively used for detecting pseudo-range gross errors and carrier phase cycle slips, and the effectiveness and reliability of detection are improved.

Description

technical field [0001] The invention relates to a Beidou GNSS satellite real-time positioning and orientation data preprocessing system and method, and belongs to the technical field of satellite positioning algorithms. Background technique [0002] With the development of technologies such as unmanned aerial vehicles and automatic driving, Beidou / GNSS high-precision real-time dynamic positioning and orientation are widely used. In order to ensure the safety of unmanned aerial vehicles and automatic driving, and the accuracy and reliability of real-time dynamic positioning and orientation Higher requirements, the effect of real-time data preprocessing is the basis and premise for obtaining high-precision, high-reliability real-time positioning and orientation. The main tasks include pseudorange gross error detection and cycle slip detection. At present, in the application of real-time high-precision dynamic positioning and orientation, the pseudorange gross error detection m...

AI Technical Summary

Problems solved by technology

However, with the emergence of unmanned aerial vehicles and automatic driving applications, real-time dynamic positioning and orientation are difficult to meet the above observation environment requirements. In complex environments with severe occlusion, the above methods have obvious false detection and missed detection phenomena, which will seriously affect the Beidou / GNSS real-time The accuracy and reliability of dynamic positioning and orientation can reduce the application performance of UAV and automatic driving technology

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