GNSS (Global Navigation Satellite System) multi-system robust adaptive fusion RTK (Real Time Kinematic) resolving method
A multi-system, self-adaptive technology, applied in the field of GNSS satellite navigation and positioning, can solve problems such as increase, gross errors or abnormalities in observation values, Kalman filter positioning calculation deviation, etc., and achieve the effect of accurate positioning
Pending Publication Date: 2022-08-05
华力智芯(成都)集成电路有限公司
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However, due to the differences in the constellation and satellite orbit distribution of each satellite navigation system, the navigation positioning performance and the accuracy of the observation value of each system are different, and the GNSS multi-system fusion positioning only determines the weight ratio of the observation values of each system based on the prior accuracy, which is not accurate and reliable.
At the same time, in cities, canyons and other areas, due to the complex observation environment, satellite signals form multi-path or non-line-of-sight signals due to reflection or scattering of buildings, resulting in an increased probability of gross errors or anomalies in observation values, and dynamic conditions. It is difficult to accurately model the body motion model, which makes the conventional Kalman filter positioning solution prone to large deviations and even divergence
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[0106] like figure 1 As shown, a GNSS multi-system robust adaptive fusion RTK solution method described in this embodiment includes the following steps:
[0107] Step 1: According to the BDS / GPS / GLONASS / GLILEO multi-system observation data of the base station and the rover, establish a conventional RTK double-difference observation equation;
[0108] Step 2: conventional Kalman filter solution;
[0109] Step 3: Robust Kalman adaptive filter estimation;
[0110] Step 4: BDS / GPS / GLONASS / GLILEO multi-system fusion Helmert variance component estimation;
[0111] Step 5: BDS / GPS / GLONASS / GLILEO multi-system RTK ambiguity is fixed.
[0112] In this embodiment, the specific process of step 1 is:
[0113] Step 1-1: Establish a basic observation equation based on non-differenced original pseudorange and carrier phase observations, as follows:
[0114]
[0115]
[0116] In the formula, the subscript i and r are the frequency and station of the observation, respectively, and th...
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The invention discloses a GNSS (Global Navigation Satellite System) multi-system robust adaptive fusion RTK (Real Time Kinematic) resolving method, which comprises the following steps of: 1, establishing a conventional RTK double-difference observation equation according to BDS / GPS / GLONASS / GLILEO multi-system observation data of a base station and a moving station; step 2, carrying out conventional Kalman filtering solution; step 3, robust Kalman adaptive filtering estimation is carried out; step 4, carrying out BDS / GPS / GLONASS / GLILEO multi-system fusion Helmert variance component estimation; and step 5, the RTK ambiguity degree of the BDS / GPS / GLONASS / GLILEO multi-system is fixed. The method can effectively reduce the influence of the inaccurate GNSS positioning prior random model, the abnormal observation and the abnormal dynamic model on the multi-system fusion RTK positioning, improves the positioning precision of the GNSS (BDS / GPS / GLONASS / GLILEO) multi-system fusion RTK, and enables the RTK positioning result to be more stable and reliable in a complex environment.
Description
technical field [0001] The invention belongs to the field of GNSS satellite navigation and positioning, in particular to a GNSS multi-system robust adaptive fusion RTK solution method. Background technique [0002] With the continuous development of the global satellite navigation system, the combination of different satellite constellations has gradually increased the number of visible satellites provided, and the spatial geometric distribution of satellites has become more complete. GNSS (BDS / GPS / GLONASS / GLILEO) multi-system fusion provides a more reliable guarantee for high-precision positioning due to the introduction of more visible satellites. However, due to the differences in the constellation and satellite orbit distribution of each satellite navigation system, the navigation and positioning performance and observation accuracy of each system are different. At the same time, in areas such as cities and canyons, due to the complex observation environment, satellite ...
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IPC IPC(8): G01S19/33G01S19/37G01S19/41
CPCG01S19/33G01S19/37G01S19/41
Inventor 冯彪王超帅路张平吴小波马磊刘解华
Owner 华力智芯(成都)集成电路有限公司