Carrier phase difference result detection method and device based on inertia assistance
By using an inertial-assisted method, combining an inertial module and a carrier phase differential module, the correctness of the carrier phase differential result is determined by inertial position and difference. This solves the problem of difficulty in detecting carrier phase differential positioning results in dynamic scenes, achieving efficient and reliable detection results and supporting high-precision applications of satellite navigation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XIAN FLIGHT SELF CONTROL INST OF AVIC
- Filing Date
- 2025-12-24
- Publication Date
- 2026-04-17
AI Technical Summary
In dynamic scenarios, small errors in carrier phase differential positioning results are difficult to detect using traditional methods, especially in dynamic application scenarios where anomaly detection of carrier phase differential positioning results is even more difficult.
An inertial-assisted method is adopted, which combines an inertial module and a carrier phase differential module. The initial position and position difference of the inertial module are used to judge the correctness of the carrier phase differential result. A counter and a threshold value are used to achieve high reliability detection of the carrier phase differential position result.
It achieves high-reliability detection of the phase differential position results of the downloaded wave in dynamic scenes, and features low resource requirements, high operating efficiency, and high detection reliability, supporting high-precision and high-reliability applications of satellite navigation.
Smart Images
Figure CN121878749A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of satellite navigation, specifically relating to a method and apparatus for detecting carrier phase difference results based on inertial assistance. Background Technology
[0002] With the increasing maturity of satellite navigation systems, satellite navigation has become an irreplaceable navigation method in both military and civilian fields. Simultaneously, users' requirements for satellite navigation accuracy have significantly increased, and traditional single-point positioning can no longer meet the demand for high-precision positioning. Carrier phase differential positioning technology, as a relative navigation and positioning technology based on satellite signal carrier phase measurement, can achieve positioning accuracy at the centimeter or even millimeter level, and its application prospects in fields such as geodetic mapping, autonomous aircraft landing and carrier landing, and aerial refueling are very broad. Because carrier phase differential positioning results are extremely accurate, traditional fault detection methods struggle to detect small jumps in the positioning results, especially in dynamic application scenarios where anomaly detection is even more difficult. Current research often uses satellite measurement residuals or ratios to determine the reliability of carrier phase differential positioning results, which frequently fails to detect small jumps. Therefore, fault detection of carrier phase differential positioning results in dynamic scenarios has become a research hotspot. Summary of the Invention
[0003] The purpose of this invention is to provide an inertial-assisted carrier phase differential result detection method and device, which can solve the problem of difficulty in detecting small deviations in carrier phase differential positioning results in dynamic scenarios.
[0004] Technical solution: In a first aspect, this application provides a carrier phase differential result detection method based on inertial assistance, comprising: Step 1: The system begins the initialization detection process at a certain moment, denoted as moment 1. , this The position result output by the time-carrier phase differential module is denoted as This position is then directly assigned to the inertial module as its initial position. ; Step 2: Based on the initial position of the inertial module Calculations yielded The inertial position at any given moment, and this judgment. Are the differential positioning results at any given time correct? Step 3: If If the difference position result at time is correct, then according to Inertial position calculated by the inertial module at any time Further calculations yielded The inertial position at any given moment, and this judgment. Are the differential positioning results at any given time correct? Step 4: If If the difference position result at time is correct, then according to Inertial position calculated by the inertial module at any time Further calculations yielded The inertial position at any given moment, and this judgment. Are the differential positioning results at any given time correct? Step 5: Execute steps 2 to 4 until the end. time, At this point, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module. ; Step 6: During the formal testing process, the fault detection module determines the carrier phase position result based on the inertial position at each frame and gives a correct carrier phase differential position result, thereby realizing the detection of carrier phase differential position.
[0005] Specifically, step 2 includes: Step 21: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 22: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 23: Acquire the output of the carrier phase differential module Difference position results at time ; Step 24: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ; Step 25: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero; Step 26: If If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time.
[0006] Specifically, step 3 includes: Step 31: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 32: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 33: Acquire the output of the carrier phase differential module Difference position results at time ; Step 34: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ; Step 35: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero; Step 36: If If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time.
[0007] Specifically, step 4 includes: Step 41: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 42: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 43: Acquire the output of the carrier phase differential module Difference position results at time ; Step 44: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ; Step 45: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero; Step 46: If If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time.
[0008] Specifically, step 6 includes: Step 61: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 62: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 63: Acquire the output of the carrier phase differential module Difference position results at time ; Step 64: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ; Step 65: If Then it is believed For a correct result, the fault detection module will output a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module, and... The count is reset to zero; if Then it is believed If the result is incorrect, the fault detection module will output a carrier phase differential position result error flag. Without updating the inertial module position, Increment the count by 1.
[0009] Specifically, step 3 also includes: like If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Is the differential positioning result at any given time correct?
[0010] Specifically, step 4 also includes: like If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, repeat step 1, and check... Is the differential positioning result at any given time correct?
[0011] Specifically, step 6 includes: The carrier phase differential position is detected. If the carrier phase differential position is correct, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module, and... The counter is reset to zero; if the carrier phase differential position is incorrect, the fault detection module outputs a carrier phase differential position result error flag. Without updating the inertial module position, Increment the count by 1; when The count value is greater than the threshold value At that time, Counting and All counts are reset to zero, proceed to step 1, and re-execute the initialization detection process.
[0012] Secondly, this application provides an inertial-assisted carrier phase differential result detection device, which is used in any of the above-mentioned inertial-assisted carrier phase differential result detection methods. In summary, this invention provides a carrier phase differential result detection method based on inertial assistance. The system mainly includes an inertial module, a carrier phase differential module, and a fault detection module. The inertial module includes an inertial sensor measurement unit and an inertial calculation unit. The inertial module can output the inertial position and velocity of the carrier in real time. The carrier phase differential module completes high-precision carrier phase differential positioning calculation for satellite navigation and can output differential position results in real time. The fault detection module performs real-time detection on the carrier phase differential position results output by the carrier phase differential module based on the inertial position and velocity output by the inertial module. During system operation, it is divided into two stages: an initialization detection process and a formal detection process. The initialization detection process is executed first, followed by the formal detection process.
[0013] During the initialization detection process, the fault detection module detects the carrier phase differential position result output by the carrier phase differential module. If the carrier phase differential position result is normal for three consecutive scans, the differential position result is considered correct, and the formal detection process begins; otherwise, the initialization detection process continues until the carrier phase differential position result is normal for three consecutive scans. During the formal testing process, the fault detection module detects the carrier phase differential position result output by the carrier phase differential module. When the carrier phase differential position result is detected to be correct, the fault detection module outputs a correct differential position result indication and assigns the carrier phase differential module position result to the inertial module to update the inertial position. When an error is detected in the carrier phase differential position result, the fault detection module outputs an error differential position result indication, but does not update the inertial position. When an error in the carrier phase differential position result is detected for 60 consecutive cycles, the initialization testing process is re-entered, and the initialization testing procedure is executed.
[0014] Through the above steps, high-reliability detection of carrier phase differential position results in dynamic scenes can be achieved. This invention can run in embedded systems and features low resource requirements, high operating efficiency, and high detection reliability. It can efficiently detect carrier phase differential position results and obtain reliable results, providing strong support for high-precision and high-reliability applications in satellite navigation. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of a carrier phase differential result detection method based on inertial assistance provided by the present invention; Figure 2 This is the overall execution flowchart for fault detection; Figure 3 This is a flowchart of the initialization detection process; Figure 4 This is a flowchart of the formal testing process. Detailed Implementation
[0016] like Figure 1 As shown, this invention provides a carrier phase differential result detection method and apparatus based on inertial assistance, specifically including an initialization detection process and a formal detection process. Steps 1 to 5 are the initialization detection process, and steps 6 to 7 are the formal detection process. Initialization detection process: Step 1: The system begins the initialization detection process at a certain moment, denoted as moment 1. , this The position result output by the time-carrier phase differential module is denoted as This position is then directly assigned to the inertial module as its initial position. ; Step 2: Based on the initial position of the inertial module Calculations yielded The inertial position at any given moment, and this judgment. Are the differential positioning results at any given time correct? Specifically, step 2 includes: Step 21: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 22: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 23: Acquire the output of the carrier phase differential module Difference position results at time ; It should be noted that, due to The time is relatively short, usually 1 second or even less, therefore in Over a short period of time, the accumulated error of the inertial sensor is very small. Therefore, if for If the result is correct at all times, then Can be used as Reference standard for time for differential position results Conduct testing.
[0017] Step 24: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ; Step 25: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero.
[0018] It should be noted that, and The carrier phase differential module is respectively in Time and The difference position results at time t. and The inertial module is respectively in Time and The inertial position result at time t. Because the satellite carrier phase differential system has the characteristics of uncorrelated and random errors between consecutive frames, while the inertial system's position in a subsequent frame is calculated by integrating the inertial measurements based on the position of the previous frame, exhibiting a very small cumulative error between consecutive frames, therefore, only when t is the position obtained. and When all results are correct, It will be very small. Established, when and When one of them is an incorrect result or both are incorrect results It will usually be very large. This is not true.
[0019] Step 26: If If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time 2; Step 3: If If the difference position result at time is correct, then according to Inertial position calculated by the inertial module at any time Further calculations yielded The inertial position at any given moment, and this judgment. Are the differential positioning results at any given time correct? like If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Is the differential positioning result at any given time correct?
[0020] Specifically, step 3 includes: Step 31: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 32: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 33: Acquire the output of the carrier phase differential module Difference position results at time ; It should be noted that, due to The time is relatively short, usually 1 second or even less, therefore in Over a short period of time, the accumulated error of the inertial sensor is very small. Therefore, if for If the result is correct at all times, then Can be used as Reference standard for time for differential position results Conduct testing.
[0021] Step 34: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ; Step 35: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero.
[0022] It should be noted that, and The carrier phase differential module is respectively in Time and The difference position results at time t. and The inertial module is respectively in Time and The inertial position result at time t. Because the satellite carrier phase differential system has the characteristics of uncorrelated and random errors between consecutive frames, while the inertial system's position in a subsequent frame is calculated by integrating the inertial measurements based on the position of the previous frame, exhibiting a very small cumulative error between consecutive frames, therefore, only when t is the position obtained. and When all results are correct, It will be very small. Established, when and When one of them is an incorrect result or both are incorrect results It will usually be very large. This is not true.
[0023] Step 36: If If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time 2; Step 4: If If the difference position result at time is correct, then according to Inertial position calculated by the inertial module at any time Further calculations yielded The inertial position at any given moment, and this judgment. Are the differential positioning results at any given time correct? like If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, repeat step 1, and check... Is the differential positioning result at any given time correct?
[0024] Specifically, step 4 includes: Step 41: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 42: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 43: Acquire the output of the carrier phase differential module Difference position results at time ; It should be noted that, due to The time is relatively short, usually 1 second or even less, therefore in Over a short period of time, the accumulated error of the inertial sensor is very small. Therefore, if for If the result is correct at all times, then Can be used as Reference standard for time for differential position results Conduct testing.
[0025] Step 44: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ; Step 45: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero.
[0026] It should be noted that, and The carrier phase differential module is respectively in Time and The difference position results at time t. and The inertial module is respectively in Time and The inertial position result at time t. Because the satellite carrier phase differential system has the characteristics of uncorrelated and random errors between consecutive frames, while the inertial system's position in a subsequent frame is calculated by integrating the inertial measurements based on the position of the previous frame, exhibiting a very small cumulative error between consecutive frames, therefore, only when t is the position obtained. and When all results are correct, It will be very small. Established, when and When one of them is an incorrect result or both are incorrect results It will usually be very large. This is not true.
[0027] Step 46: If If the difference position result at time step is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time 2; Step 5: Execute steps 2 to 4 until the end. time, At this point, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module. ; This will then transition into the formal testing process; Step 6: During the formal testing process, the fault detection module determines the carrier phase position result based on the inertial position at each frame and gives a correct indicator of the carrier phase differential position result. Specifically, step 6 includes: Step 61: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 62: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 63: Acquire the output of the carrier phase differential module Difference position results at time ; Step 64: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ; Step 65: If Then it is believed For a correct result, the fault detection module will output a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module, and... The count is reset to zero; if Then it is believed If the result is incorrect, the fault detection module will output a carrier phase differential position result error flag. Without updating the inertial module position, Increment the count by 1; It should be noted that, and The carrier phase differential module is respectively in Time and The difference position results at time t. and The inertial module is respectively in Time and The inertial position result at time t. Because the satellite carrier phase differential system has the characteristics of uncorrelated and random errors between consecutive frames, while the inertial system's position in a subsequent frame is calculated by integrating the inertial measurements based on the position of the previous frame, exhibiting a very small cumulative error between consecutive frames, therefore, only when t is the position obtained. and When all results are correct, It will be very small. Established, when and When one of them is an incorrect result or both are incorrect results It will usually be very large. This is not true.
[0028] Step 7: Repeat step 6 to detect the carrier phase differential position. If the carrier phase differential position is correct, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module, and... The counter is reset to zero; if the carrier phase differential position is incorrect, the fault detection module outputs a carrier phase differential position result error flag. Without updating the inertial module position, Increment the count by 1; when The count value is greater than the threshold value At that time, Counting and All counts are reset to zero, proceed to step 1, and re-execute the initialization detection process.
[0029] Example 2 This application provides a dynamic scene carrier phase differential test and verification system based on inertial assistance. The system mainly includes an inertial module, a carrier phase differential module, and a fault detection module. When the system is running, it is divided into two stages: the initialization detection process and the formal detection process. After the system is powered on, the initialization detection process is executed first. When the initialization detection process is completed and the conditions are met, the system switches to the formal detection process. The formal detection process is executed continuously until the conditions are no longer met, at which point the system switches back to the initialization detection process.
[0030] During the initialization detection process, the fault detection module checks the carrier phase differential position result output by the carrier phase differential module. When the carrier phase differential position result is detected to be normal for three consecutive cycles, the differential position result is considered correct, and the formal detection process begins. During the formal testing process, the fault detection module detects the carrier phase differential position result output by the carrier phase differential module. When the carrier phase differential position result is detected to be correct, the fault detection module outputs a correct differential position result indication and assigns the carrier phase differential module position result to the inertial module to update the inertial position. When an error is detected in the carrier phase differential position result, the fault detection module outputs an error differential position result indication, but does not update the inertial position. When an error in the carrier phase differential position result is detected for 60 consecutive cycles, the initialization testing process is re-entered, and the initialization testing procedure is executed.
[0031] Steps 1 to 5 constitute the initial detection process, and steps 6 to 9 constitute the formal detection process. Initialization detection process: Step 1: After the system is powered on, the inertial navigation system completes alignment, starting from a certain initial moment. To begin executing this method, the carrier phase differential position result at the current moment will be used. Assign this value to the inertial module as its initial position. ; Step 2: From At the start of the moment, the inertial module obtains the result through inertial calculation based on the measurement information from its internal inertial sensors. Inertial position after time ,in ; for Time's up The increment of the carrier position measured by the inertial sensor within a given time period; Step 3: Data Collection At what time, the position result of the carrier phase differential module? ; Step 4: Through right When testing is conducted, At that time, it was believed Correct, and counted correctly. Add 1; otherwise, when At that time, it was believed Error, and will count Reset to zero; Step 5: Repeat steps 2 through 4 until... At this point, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module to update the position result of the inertial module; This is followed by the formal testing process: Step 6: During the formal testing process, the inertial module according to Inertial position at any moment The measurement information from its internal inertial sensors is obtained through inertial calculation. Inertial position after time ,in ; for Time's up The increment of the carrier position measured by the inertial sensor within a given time period; Step 7: Acquire the output of the carrier phase differential module Difference position results at time ; Step 8: Through right When testing is conducted, At that time, it was believed Correct, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module. Clear to zero; otherwise, when At that time, it was believed Error; the fault detection module outputs an error flag indicating an incorrect carrier phase differential position result. Without updating the inertial module position, Increment the count by 1; Step 9: Repeat steps 6 to 8 to perform formal detection of carrier phase differential position results. The count value is greater than the threshold value Time, i.e., continuous When the differential detection result is incorrect, Counting and All counts are reset to zero, proceed to step 1, and re-execute the initialization detection process.
[0032] Example 3 like Figure 1 As shown, this invention provides a carrier phase differential result detection method based on inertial assistance, specifically including an initialization detection process and a formal detection process. This embodiment provides a detailed description of the execution steps with actual data. Steps 1 to 5 are the initialization detection process, and steps 6 to 7 are the formal detection process. Initialization detection process: Step 1: The system is powered on at 6:30:00 UTC on February 5, 2024. The inertial navigation system is aligned and enters the navigation state. The inertial module can output the inertial position and velocity of the carrier normally at the whole second through inertial calculation. The carrier phase differential module can perform differential calculation normally and output the carrier phase differential position result of the carrier at the whole second.
[0033] At 6:54:16, the system began executing this detection method. The corresponding BeiDou system time at this moment is 944 cycles, 111260 seconds. The carrier position results output by the carrier phase module at the current moment are shown in the table below (for simplicity, the time descriptions below will not include hours and minutes, only seconds): Table 1. Carrier phase differential position results at the 16th second.
[0034] Assign the differential position result to the inertial position as the initial inertial position, as shown in the table below: Table 2 Initial position of inertia at 16 seconds
[0035] Step 2: Calculate the inertial position at the 17th second based on the position of the inertial module at the 16th second, and then determine whether the differential positioning result at the 17th second is correct. Specifically, step 2 includes: Step 21: The inertial module performs inertial calculations on the inertial measurement information output by its internal gyroscope and accelerometer to obtain the inertial position increment from the 16th second to the 17th second, as shown in the table below: Table 3. Increment of inertial position from second 16 to second 17
[0036] Step 22: Based on the inertial position increment from the 16th to the 17th second and the inertial position at the 16th second, the inertial position at the 17th second can be calculated, as shown in the table below: Table 4. Inertial position results at the 17th second.
[0037] Step 23: Collect the differential position results output by the carrier phase differential module at the 17th second, as shown in the table below: Table 5. Carrier phase differential position results at the 17th second.
[0038] Step 24: Calculate the difference between the inertial position result and the carrier phase differential position result at the 17th second. The calculation formula is as follows:
[0039] The calculated positional difference is: ; Step 25: In this solution, take... ;because Therefore, the carrier phase differential position result at the 17th second is correct; Increment the count by 1 to get ; The inertial position at the 17th second is calculated by the inertial module based on its own inertial sensor measurement data. Because the satellite carrier phase differential system has the characteristics of uncorrelated and random errors between consecutive frames, while the inertial system calculates the position of the next frame by integrating the inertial measurements based on the position of the previous frame, it has the characteristic of very small cumulative error between consecutive frames. Therefore, the position is only determined when the 16th second and... When all carrier phase differential position results for 17 seconds are correct, It will be very small. Established, when the 16th second and If one of the 17-second carrier phase differential positioning results is incorrect, or both are incorrect... It will usually be very large. This is not true.
[0040] Step 3: Calculate the inertial position at the 18th second based on the position of the inertial module at the 17th second, and then determine whether the differential positioning result at the 18th second is correct. Specifically, step 3 includes: Step 31: The inertial module performs inertial calculations on the inertial measurement information output by its internal gyroscope and accelerometer to obtain the inertial position increment from the 17th second to the 18th second, as shown in the table below: Table 6. Increment of inertial position from second 17 to second 18
[0041] Step 32: Based on the inertial position increment from the 17th to the 18th second and the inertial position at the 17th second, the inertial position at the 18th second can be calculated, as shown in the table below: Table 7. Inertial position results at the 18th second.
[0042] Step 33: Collect the differential position results output by the carrier phase differential module at the 18th second, as shown in the table below: Table 8. Carrier phase differential position results at the 18th second.
[0043] Step 34: Calculate the difference between the inertial position result and the carrier phase differential position result at the 18th second. The calculation formula is as follows:
[0044] The calculated positional difference is: ; Step 35: In this solution, take... ;because Therefore, the carrier phase differential position result at the 18th second is correct; Increment the count by 1 to get ; The inertial position at the 18th second is calculated by the inertial module based on its own inertial sensor measurement data. Because the satellite carrier phase differential system has the characteristics of uncorrelated and random errors between consecutive frames, while the inertial system calculates the position of the next frame by integrating the inertial measurements based on the position of the previous frame, it has the characteristic of very small cumulative error between consecutive frames. Therefore, the position is only determined when the 17th second and... When all carrier phase differential position results over 18 seconds are correct, It will be very small. Established, at the 17th second and If one of the carrier phase differential positioning results is incorrect, or both are incorrect, the result is valid. It will usually be very large. This is not true.
[0045] Step 4: Calculate the inertial position at the 19th second based on the position of the inertial module at the 18th second, and use this to determine whether the differential positioning result at the 19th second is correct; Specifically, step 4 includes: Step 41: The inertial module performs inertial calculations on the inertial measurement information output by its internal gyroscope and accelerometer to obtain the inertial position increment from the 18th second to the 19th second, as shown in the table below: Table 9. Increment of inertial position from second 18 to second 19
[0046] Step 42: Based on the inertial position increment from the 18th to the 19th second and the inertial position at the 18th second, the inertial position at the 19th second can be calculated, as shown in the table below: Table 10 Inertial position results at the 19th second
[0047] Step 43: Collect the differential position results output by the carrier phase differential module at the 19th second, as shown in the table below: Table 11. Carrier phase difference position results at the 19th second.
[0048] Step 44: Calculate the difference between the inertial position result and the carrier phase differential position result at the 19th second. The calculation formula is as follows:
[0049] The calculated positional difference is: ; Step 45: In this solution, take... ;because Therefore, the carrier phase differential position result at the 19th second is correct; Increment the count by 1 to get ; The inertial position at the 19th second is calculated by the inertial module based on its own inertial sensor measurement data. Because the satellite carrier phase differential system has the characteristics of uncorrelated and random errors between consecutive frames, while the inertial system calculates the position of the next frame by integrating the inertial measurements based on the position of the previous frame, it has the characteristic of very small cumulative error between consecutive frames. Therefore, the position is only determined when the 18th second and... When all carrier phase differential position results for 19 seconds are correct, It will be very small. Established, when the 18th second and If one of the carrier phase differential positioning results after 19 seconds is incorrect, or both are incorrect... It will usually be very large. This is not true.
[0050] Because at this time It has been satisfied. Under the given conditions, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this frame is assigned to the inertial module, updating the inertial module's position result. Therefore, the updated inertial position result at the 19th second is shown in the table below: Table 12 Inertial position results after the 19th second update
[0051] It should be noted that: if in steps 2 to 4 above, the difference between the carrier phase differential position result and the inertial position result detected in a certain frame is... If the carrier phase differential position result is considered incorrect, then it is necessary to... The counter is reset to zero, and the carrier phase differential position at the current moment is assigned to the inertial position. Then, the process returns to step 1, using the current moment as the initial moment, and the initialization detection process is re-executed until the condition is met. conditions; This will then transition into the formal testing process; Step 5: During the formal testing process, the fault detection module determines the carrier phase position result based on the inertial position at each frame and gives a correct carrier phase differential position result indicator. Specifically, step 5 includes: Step 51: The inertial module performs inertial calculations on the inertial measurement information output by its internal gyroscope and accelerometer to obtain the inertial position increment from the 19th second to the 20th second, as shown in the table below: Table 13 Increment of inertial position from second 19 to second 20
[0052] Step 52: Based on the inertial position increment from the 19th to the 20th second and the inertial position at the 19th second, the inertial position at the 20th second can be calculated, as shown in the table below: Table 14 Inertial position results at 20 seconds
[0053] Step 53: Collect the differential position results output by the carrier phase differential module at the 20th second, as shown in the table below: Table 15: Carrier Phase Differential Position Results at 20 Seconds
[0054] Step 54: Calculate the difference between the inertial position result and the carrier phase differential position result at the 20th second. The calculation formula is as follows:
[0055] The calculated positional difference is: ; Step 55: In this solution, take... ;because Therefore, the carrier phase differential position result at the 20th second is correct; The inertial position at the 20th second is calculated by the inertial module based on its own inertial sensor measurement data. Because the satellite carrier phase differential system has the characteristics of uncorrelated and random errors between consecutive frames, while the inertial system calculates the position of the next frame by integrating the inertial measurements based on the position of the previous frame, it has the characteristic of very small cumulative error between consecutive frames. Therefore, the position is only determined when the 19th second and... When all carrier phase differential position results for 20 seconds are correct, It will be very small. Established, at the 19th second and If one of the 20-second carrier phase differential positioning results is incorrect, or both are incorrect... It will usually be very large. This is not true.
[0056] The fault detection module outputs a flag indicating that the carrier phase differential position result is correct. ;Will The counter is reset to zero, and the carrier phase differential position result for this frame is assigned to the inertial module to update the inertial module's position result. Therefore, the inertial position result at the 20th second after the update is shown in the table below: Table 16 Inertial position results after the 20th second update
[0057] Step 6: Repeat Step 5 to continue the formal detection process of the carrier phase differential position; it should be noted that: if the carrier phase differential position is correct, the fault detection module will output a flag indicating that the carrier phase differential position result is correct. ;Will The counter is reset to zero, and the carrier phase differential position result of this frame is assigned to the inertial module to update the inertial module's position result; if the carrier phase differential position is incorrect, the fault detection module outputs a carrier phase differential position result error flag. Without updating the inertial module position, Increment the count by 1; when The count value is greater than the threshold value Time (in this embodiment, it is taken as) (That is, detecting a carrier phase differential position error for 60 consecutive frames), Counting and All counts are reset to zero. Proceed to step 1, using the current time as the initial time, and re-execute the initialization detection process.
Claims
1. A method for detecting carrier phase differential results based on inertial assistance, characterized in that, include: Step 1: The system begins the initialization detection process at a certain moment, denoted as moment 1. , this The position result output by the time-carrier phase differential module is denoted as This position is then directly assigned to the inertial module as its initial position. ； Step 2: Based on the initial position of the inertial module Calculations yielded The inertial position at any given moment, and this judgment. Are the difference position results at time points correct? Step 3: If If the difference position result at time is correct, then according to Inertial position calculated by the inertial module at any time Further calculations yielded The inertial position at any given moment, and this judgment. Are the difference position results at time points correct? Step 4: If If the difference position result at time is correct, then according to Inertial position calculated by the inertial module at any time Further calculations yielded The inertial position at any given moment, and this judgment. Are the difference position results at time points correct? Step 5: Execute steps 2 to 4 until the end. time, At this point, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module. ； Step 6: During the formal testing process, the fault detection module determines the carrier phase differential position result based on the inertial position at each frame and gives a correct carrier phase differential position result, thereby realizing the detection of carrier phase differential position.
2. The method according to claim 1, characterized in that, Step 2 includes: Step 21: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 22: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 23: Acquire the output of the carrier phase differential module Difference position results at time ; Step 24: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ； Step 25: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero; Step 26: If If the difference position result at time is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time.
3. The method according to claim 1, characterized in that, Step 3 includes: Step 31: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 32: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 33: Acquire the output of the carrier phase differential module Difference position results at time ; Step 34: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ； Step 35: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero; Step 36: If If the difference position result at time is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time.
4. The method according to claim 1, characterized in that, Step 4 includes: Step 41: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 42: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 43: Acquire the output of the carrier phase differential module Difference position results at time ; Step 44: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ； Step 45: If Then it is believed For the correct result, at this time Increment the count by 1; if Then it is believed This is an incorrect result. Reset the counter to zero; Step 46: If If the difference position result at time is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Whether the differential positioning result at time 1 is correct, the operation performed at this time is the same as the operation performed at the initial time.
5. The method according to claim 1, characterized in that, Step 6 includes: Step 61: From At the start of the moment, the inertial module measures the acceleration of the carrier using its internal gyroscope and accelerometer, and obtains the carrier's velocity by integration, thus determining the carrier's position within the specified range. Displacement over time ; Step 62: Based on displacement , Calculated by the inertial module The inertial position at any moment is ,in, ; Step 63: Acquire the output of the carrier phase differential module Difference position results at time ； Step 64: For the carrier phase differential position results and inertial position The difference between the differential position and the inertial position is calculated using the following formula: ； Step 65: If Then it is believed For a correct result, the fault detection module will output a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module, and... The count is reset to zero; if Then it is believed If the result is incorrect, the fault detection module will output a carrier phase differential position result error flag. Without updating the inertial module position, Increment the count by 1.
6. The method according to claim 1, characterized in that, Step 3 also includes: like If the difference position result at time is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, return to step 1, and determine... Is the differential positioning result at any given time correct? 7. The method according to claim 1, characterized in that, Step 4 also includes: like If the difference position result at time is incorrect, then... Time carrier phase differential position Assign the value to the inertial module as its initial position, repeat step 1, and check... Is the differential positioning result at any given time correct? 8. The method according to claim 1, characterized in that, Step 6 specifically includes: The carrier phase differential position is detected. If the carrier phase differential position is correct, the fault detection module outputs a flag indicating that the carrier phase differential position result is correct. Simultaneously, the carrier phase differential position result of this shot is assigned to the inertial module, updating the position result of the inertial module, and... The counter is reset to zero; if the carrier phase differential position is incorrect, the fault detection module outputs a carrier phase differential position result error flag. Without updating the inertial module position, Increment the count by 1; when The count value is greater than the threshold value At that time, Counting and All counts are reset to zero, proceed to step 1, and re-execute the initialization detection process.
9. A carrier phase differential result detection device based on inertial assistance, characterized in that, The device is used to implement an inertial-assisted carrier phase difference result detection method according to any one of claims 1 to 8.