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GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) combined positioning method for inter-system common-frequency signal difference

A combined positioning and differential technology, used in radio wave measurement systems, satellite radio beacon positioning systems, instruments, etc., to achieve the effect of enhancing hardware costs, improving positioning performance, and superior stability

Pending Publication Date: 2022-05-13
TONGJI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a GNSS / INS combined positioning method of inter-system common-frequency signal difference for the pain points of the current GNSS / INS combined positioning algorithm, which is used to improve the positioning performance of the GNSS / INS combined system in a complex environment

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  • GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) combined positioning method for inter-system common-frequency signal difference
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  • GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) combined positioning method for inter-system common-frequency signal difference

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[0075] The specific implementation manner of the present invention will be described in more detail below with reference to schematic diagrams. Advantages and features of the present invention will be apparent from the following description and claims.

[0076] refer to figure 1 , in a preferred embodiment of the present invention, a GNSS / INS combined positioning method of inter-system common-frequency signal difference includes:

[0077] Step S1: Place the device to be tested (which can be replaced by a device of the same type as the device to be tested) and the reference station at both ends of the ultra-short baseline, and collect 10-60 minutes of common frequency data at rest and synchronously;

[0078] Specifically, step S1 includes:

[0079] Step S11: Arranging the equipment to be tested and the reference station as an ultra-short baseline;

[0080] Step S12: Receive and decode the 10-60 minutes GNSS co-frequency observation value of the device under test;

[0081] S...

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Abstract

The invention relates to a GNSS (Global Navigation Satellite System) / INS (Inertial Navigation System) combined positioning method for inter-system common-frequency signal difference, and provides a novel GNSS / INS combined positioning method by combining the development trend of compatibility and interoperation of a GNSS technology and utilizing common-frequency signals among different satellite systems based on the excellent stability of differential inter-system deviations (DISBs) among different systems and the same frequency on a time domain. The method comprises the following steps: firstly, obtaining prior information of a DISB parameter through an ultra-short baseline static experiment; and the prior DISB information is utilized, and GNSS tight combination RTK based on inter-system common-frequency signal difference is utilized to realize GNSS / INS combined positioning. Compared with a traditional GNSS / INS combined positioning algorithm, the multi-system GNSS information can be fully mined, the number of available information is remarkably increased, and therefore the positioning performance of a GNSS / INS combined system in a complex environment is effectively improved.

Description

technical field [0001] The invention relates to the field of GNSS / INS combined positioning data processing, in particular to a GNSS / INS combined positioning method for inter-system common-frequency signal difference. Background technique [0002] High-precision positioning technology has driven the rapid development of a series of industries, and is the prerequisite for the smooth realization of beautiful visions such as unmanned driving, smart transportation, and smart agriculture. The combination of GNSS / INS technology based on Global Navigation Satellite System (GNSS) positioning technology and inertial navigation system (INS) is undoubtedly the most widely used high-precision positioning method in outdoor scenes. Although this technology has been put into practical engineering use for nearly 40 years, there are still some problems that need to be solved urgently. Especially for civil GNSS / INS combined systems, because it relies heavily on GNSS signals, GNSS needs to pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/49G01S19/44
CPCG01S19/49G01S19/44
Inventor 李博峰陈广鄂
Owner TONGJI UNIV