Satellite navigation enhancement method and system based on inertial navigation data

By constructing a continuous-time state trajectory and a Gaussian process prior model of inertial measurement unit data, and combining it with the carrier phase observation equation for tight-coupled estimation, cycle slips are detected and ambiguities are reset. This solves the positioning instability problem of satellite navigation systems in high-dynamic and obstructed environments, and improves the stability and continuity of navigation solutions.

CN122131362AActive Publication Date: 2026-06-02BEIJING SHENDAOKEXUN SCI TECH DEV CO LTD
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Patent Information

Application Number
CN202610522341.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-20
Publication Date
2026-06-02
Estimated Expiration
2046-04-20

AI Technical Summary

Technical Problem

Existing satellite navigation technologies suffer from problems such as unstable positioning output, frequent carrier phase cycle slips, loss of fixed ambiguity solutions, and difficulty in ensuring output continuity and smoothness during reinitialization in highly dynamic and complex environments.

Method used

By constructing a continuous-time state trajectory based on inertial measurement unit data, combining a Gaussian process prior model with the carrier phase observation equation for tight-coupled joint estimation, cycle slips are detected and ambiguities are reset, and re-initialization constraints are constructed to achieve stability and continuity in navigation solution.

Benefits of technology

It improves the convergence speed of satellite navigation system under high dynamic and obstruction conditions and the ability to maintain fixed solutions for integer ambiguity, reduces the false detection and missed detection rate of cycle slip detection, suppresses sudden jumps in the solution during reinitialization, and enhances the continuity and stability of navigation output.

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Abstract

The invention discloses a satellite navigation enhancement method and system based on inertial navigation data, and aims to solve the problems of slow convergence of real-time dynamic differential positioning and precise single-point positioning solution, frequent cycle hopping, easy loss of fixed solution and discontinuous or hopping navigation output in a high-dynamic and complex shielding environment. According to the invention, time alignment is carried out on inertial measurement unit data, carrier phase and Doppler observation data, a continuous time state track is constructed, Gaussian process prior is established, and tight coupling joint estimation is carried out on track state and carrier phase integer ambiguity in a sliding time window. Performing change point detection based on a carrier phase residual error to determine a cycle slip, and triggering ambiguity reset and reinitialization constraint based on an inertial prediction state and uncertainty to complete update estimation; the technical effects of cycle slip robust detection and rapid recovery, improvement of fixed solution retention capability and switching smoothness, and enhancement of navigation solution continuity and stability are realized.
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