Self-adaptive real-time multipath elimination and robust positioning method based on non-Gaussian distribution

Abstract

The invention discloses a self-adaptive real-time multipath elimination and robust positioning method based on non-Gaussian distribution. The method does not assume the number of satellites with faults or deviations, but modifies the Gaussian distribution assumption of errors in a traditional positioning model, and changes the Gaussian distribution assumption into Gaussian mixture distribution, namely non-Gaussian distribution. Parameters are solved through a maximum likelihood method based on real-time observation data, the probability distribution situation of the fault deviation range of each satellite is calculated in a self-adaptive mode, and the method can be used for recognition and robust positioning under multiple faults and can also be used for robust positioning and multipath elimination under the multipath environment. According to the method, the defects of an existing RAIM and robust positioning method are overcome, an existing fault detection and recognition method at present is large in calculation amount, depends on the prior assumption of the number of faults and is high in misjudgment rate, and the method has the high fault detection success rate, meanwhile, the calculation amount is small, the speed is high, and high precision and robustness are achieved.

Description

technical field [0001] The invention belongs to the technical field of satellite navigation and positioning, and relates to an adaptive real-time multipath elimination and robust positioning method based on non-Gaussian distribution. Background technique [0002] When the satellite navigation system is used to locate the receiver, the measurement values ​​such as pseudo-range or carrier observed by the receiver may contain some propagation errors, such as electronic faults, ephemeris and clock errors broadcast by satellites, and abnormal atmospheric delays , multipath effects, and receiver failures, etc. These failures will further lead to large errors in the positioning results output by the user's receiver, which may have adverse effects on the user's own safety. With the rapid development and widespread use of global satellite navigation systems, real-time and rapid integrity fault monitoring and robust positioning methods are playing an increasingly important role. [0...

AI Technical Summary

Problems solved by technology

Most of the current RAIM fault detection methods aim at the number of faults not exceeding three or four, but in the process of multi-mode and multi-frequency point positioning, the number of available satellites is large, and the number of multi-path faults far exceeds three or four

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