Multi-constellation satellite selection method and navigation method for tightly integrated navigation system

Abstract

A multi-constellation satellite selection method and a navigation method for a tightly integrated navigation system relate to the technical field of integrated navigation, and the selection method comprise the following steps: S1, counting the number of visible satellites in each constellation; if the number of the visible satellites of the constellation is greater than 4, sequentially executing the elimination operation of the steps S2 to S4; S2, removing visible satellites with too low elevation angles; S3, removing visible satellites which are greatly influenced by weather and a multipath effect; s4, eliminating visible stars which have great influence on the observability of the Kalman filter measurement equation, and if the number of the remaining visible stars is greater than 10, continuing the subsequent steps; S5, dividing the remaining visible satellites into three groups; s6, selecting a visible satellite with the maximum elevation angle from the high elevation angle area, and adding the selected visible satellite into a satellite selection sequence; s7, selecting three visible satellites from the low-elevation-angle region, and adding the three visible satellites into a satellite selection sequence; S8, selecting visible satellites in the middle elevation angle area and adding the visible satellites into a satellite selection sequence; and S9, completing satellite selection by adopting a distributed optimal geometric accuracy factor satellite selection method. According to the method, the contradiction between the constellation optimal configuration and the real-time performance in tight integrated navigation can be solved.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to a multi-constellation satellite selection method and a navigation method for a compact integrated navigation system. Background technique [0002] Visible satellite / inertial integrated navigation system combines the advantages of satellite navigation and inertial navigation, and has the characteristics of high positioning accuracy and strong stability, so it is widely used in military and civilian fields. In the integrated navigation mode, the tight combination method uses the pseudorange and pseudorange rate information output by the GNSS receiver and the pseudorange and pseudorange rate information obtained by solving the position and velocity information output by the SINS to combine. In situations such as high dynamic flight, receiver signal occlusion, etc., the number of visible stars received by the GNSS receiver is easily less than four. At this time, the loo...

AI Technical Summary

Problems solved by technology

Therefore, if the star selection process is not performed on the number of visible stars, the dimension of the filter observation equation will continue to increase with the number of visible stars, resulting in a multiplied increase in the amount of navigation and positioning calculations, resulting in the "dimension disaster" of the Kalman filter, and too many The number of visible stars has a limited effect on improving the final positioning accuracy

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