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INS-assisted GNSS positioning gross error elimination method and system

A gross error elimination and gross error technology, applied in satellite radio beacon positioning system, radio wave measurement system, measuring device, etc., can solve the problems of large GNSS deviation, elimination of good observation values, and failure to obtain positioning, etc., to achieve reduction The effect of positioning deviation, improving accuracy, and small positioning error

Active Publication Date: 2021-12-28
北京北斗华大科技有限公司
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AI Technical Summary

Problems solved by technology

[0006] 1. Sometimes the previous GNSS positioning cannot be obtained, such as the first positioning after startup, and the first positioning after the occlusion environment is serious (cannot be positioned at this time).
[0007] 2. If the previous GNSS positioning has a large deviation, there will be a possibility that good observations will be eliminated

Method used

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  • INS-assisted GNSS positioning gross error elimination method and system
  • INS-assisted GNSS positioning gross error elimination method and system
  • INS-assisted GNSS positioning gross error elimination method and system

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Embodiment approach

[0080] As an implementation, please refer to Figure 5 , remove the Doppler gross error according to the following steps:

[0081] 1. Obtain the GNSS satellite Doppler observation value at the current time. The satellite Doppler can be obtained directly from the signal tracking loop of the GNSS baseband. For satellite i, the composition of the Doppler is as follows:

[0082] (Formula 8)

[0083] The meanings of the symbols in the formula are as follows:

[0084] : Doppler observations of satellite signals; : Carrier wavelength of satellite signal; : The relative velocity between the user and the satellite, that is, the radial velocity; ; : receiver clock drift; : satellite clock speed; : Doppler observation noise; superscript: satellite number;

[0085] Unlike pseudorange observations, the effects of ionosphere, troposphere and multipath effects on Doppler observations are small and can be ignored.

[0086] 2. Calculate the position vector between the user...

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Abstract

The embodiment of the invention discloses an INS-assisted GNSS positioning gross error elimination method and a system. The method comprises the following steps: step 1, acquiring GNSS observation value data at the current time; 2, estimating the state of a GNSS Kalman filter according to the previous GNSS positioning result; 3, eliminating the gross error of a pseudo-range observation value and eliminating the gross error of a Doppler observation value; 4, setting observation value noise according to the tracking state, the channel noise, the carrier-to-noise ratio and the pseudo-range residual error of the observation value; 5, setting system noise according to the overall condition of the observed value and the distribution condition of the satellite participating in positioning; and 6, performing Kalman filtering of GNSS positioning, updating the current state of Kalman filtering, and outputting data. According to the method, the GNSS positioning is assisted by the INS to eliminate the gross error, and the GNSS-assisted INS positioning has the characteristics of small positioning error and no influence of a shielding environment in a short time, so that the correctness of eliminating the gross error of the observation value by the GNSS can be effectively improved, and the GNSS positioning deviation is reduced.

Description

technical field [0001] The invention relates to the technical field of GNSS / INS navigation, in particular to an INS-assisted GNSS positioning gross error elimination method and system. Background technique [0002] GNSS (Global Navigation Satellite System) navigation and positioning relies on receiving GNSS satellite signals for positioning. It has the advantages of all-weather, real-time, high precision, and navigation errors do not accumulate over time. positioning, low data update rates, and poor reliability in dynamic environments. [0003] Inertial Navigation System (INS) is an autonomous navigation system that does not depend on external information. According to the principle of Newtonian mechanics, the INS integrates the angular velocity and acceleration information of the carrier relative to the inertial space measured by the gyroscope and accelerometer to obtain the navigation parameters such as the three-dimensional velocity, position and attitude information of ...

Claims

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Application Information

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IPC IPC(8): G01S19/49G01S19/39G01S19/37G01C21/16
CPCG01S19/49G01S19/393G01S19/37G01C21/165
Inventor 张伟于洪涛
Owner 北京北斗华大科技有限公司
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