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.

CN122131362APending Publication Date: 2026-06-02BEIJING SHENDAOKEXUN SCI TECH DEV CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING SHENDAOKEXUN SCI TECH DEV CO LTD
Filing Date
2026-04-20
Publication Date
2026-06-02

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

This invention discloses a satellite navigation enhancement method and system based on inertial navigation data. To address the problems of slow convergence, frequent cycle slips, easy loss of fixed solutions, and discontinuous or abrupt navigation outputs in real-time dynamic differential positioning and precise single-point positioning under highly dynamic and complex obstruction environments, this invention aligns the inertial measurement unit data with carrier phase and Doppler observation data in time, constructs a continuous-time state trajectory, establishes a Gaussian process prior, and performs tight-coupled joint estimation of trajectory state and carrier phase integer ambiguity within a sliding time window. Based on the carrier phase residual, it performs change point detection to determine cycle slips, triggers ambiguity reset, and performs re-initialization constraints based on inertial prediction state and uncertainty to complete the update estimation. This achieves the technical effects of robust cycle slip detection and rapid recovery, improved fixed solution preservation capability and switching smoothness, and enhanced continuity and stability of navigation solutions.
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