419 results about "Carrier phase" patented technology

The invention relates to a space-ground integrated Beidou high-precision positioning method applied to urban canyons, and belongs to the technical field of navigation positioning. The method comprises the following steps: deploying a pseudo satellite base station, calibrating coordinates of the base station through carrier phase difference, and monitoring the number of Beidou visible satellites; a master pseudo-satellite is determined, timestamps and ephemeris data are broadcasted to slave pseudo-satellites through Beidou short messages, and the slave pseudo-satellites are combined with bidirectional ranging data to correct a local clock to realize high-precision synchronization; receiving Beidou and pseudo-satellite signals by a user terminal, screening effective observation values through a shielding judgment mechanism, substituting the effective observation values into a non-difference observation equation in combination with pseudo-satellite reference difference data, and resolving a fusion result through an elastic coupling mode; and finally, multi-path interference is identified by using pseudo-satellite double antennas, and historical data is called to construct an error model to correct a fusion result. The space-ground integrated positioning of Beidou and pseudo satellites in an urban canyon scene is realized, the centimeter-level positioning precision is stably output, and the high-precision positioning requirements of urban traffic, surveying and mapping and the like are met.

The invention relates to the technical field of dam safety monitoring, in particular to a method and system for improving dam GNSS deformation monitoring precision through base station and observation station combined network adjustment. The method comprises the following steps: arranging base stations and monitoring points to form a GNSS monitoring network; gNSS original observation data are collected in real time and preprocessed; constructing a joint network adjustment model, and taking base station coordinates as constraints and monitoring point coordinates as to-be-estimated parameters; performing baseline resolving based on the double-difference carrier phase observed quantity to obtain a baseline vector and a covariance matrix thereof; carrying out overall adjustment on the baseline vector by adopting a robust estimation method, and solving an optimal coordinate estimated value and precision information of the monitoring point; carrying out deformation analysis on the basis of the adjusted coordinate time sequence, and extracting tendency, periodicity and abnormal deformation; and outputting a deformation monitoring result, and carrying out visual display and early warning. According to the method, the precision and reliability of dam deformation monitoring are effectively improved through combination of network adjustment and robust estimation.

Disclosed are systems, apparatuses, processes, and computer-readable media for wireless communications, such as to measure a location of a user equipment (UE). A process may include transmitting, at the UE (305), a phase measurement capability of the UE to a network entity (310, 315, 320) for determining a position of the UE. The process may further include receiving, at the UE from the network entity, a phase measurement request for reporting phase measurements for one or more subcarriers received by the UE. The phase measurement request is based on the phase measurement capability of the UE. The process may further include transmitting a phase measurement report to the network entity based on the phase measurement request. The phase measurement report includes information associated with a measured phase of at least one subcarrier of the one or more subcarriers.

The invention discloses a three-dimensional dynamic safety management and control method and system for power transmission and transformation hoisting operation, and relates to the technical field of construction safety, and the method comprises the steps: obtaining point cloud data of a target operation area through ground three-dimensional laser scanning; according to the point cloud data, a three-dimensional grid model is constructed through an oblique photography technology and a Beidou real-time dynamic carrier phase difference technology, and a semantic electronic fence is generated; according to a pure vision technology, through target detection, three-dimensional reconstruction and time sequence tracking, a hanging object 4D digital branch is constructed, and a hanging object prediction track is obtained; the shortest three-dimensional distance is calculated through an efficient collision detection algorithm according to the hanging object prediction track and the semantic electronic fence, multi-dimensional risk assessment is carried out, and graded early warning signals are generated; and carrying out comprehensive alarm prompting according to the graded early warning signal. According to the invention, a traditional passive protection mode depending on single threshold alarm is changed, and quantitative evaluation and predictive management and control of dynamic risks are realized.

The invention discloses a carrier tracking method suitable for a multi-bit spread spectrum signal, and relates to the technical field of multi-bit spread spectrum, the carrier tracking method comprises the steps of coarse frequency offset correction, multi-bit spread spectrum, average phase estimation and delay phase correction.The carrier tracking method comprises the steps that firstly, a sliding DFT algorithm is adopted to estimate frequency offset, and a coarse frequency offset available correction signal is obtained; secondly, adaptively selecting the number of available windows according to historical data corresponding to the current signal-to-noise ratio; the method comprises the following steps: firstly obtaining a window intermediate point spread spectrum period, then extracting a carrier phase estimation value of the window intermediate point spread spectrum period, finally delaying a correlation value by the spread spectrum period to realize time sequence alignment and eliminate phase deviation, and finally obtaining information bits corresponding to each spread spectrum period by extracting and correcting a real part of the correlation value, matching a local sequence number and mapping. According to the method, the phase estimation precision under the low signal-to-noise ratio can be improved, parameter self-adaption to high and low dynamic scenes of a satellite is realized, the coherent judgment performance is improved, and the hardware complexity is reduced.

The invention discloses an ionospheric scintillation monitoring method based on a geodetic measurement receiver, which belongs to the technical field of satellite navigation, and comprises the following steps of: accurately eliminating non-scintillation errors by constructing an inter-station single-difference function model and an inter-station single-difference random model, extracting carrier phase residual errors by using a single epoch ambiguity fixing technology, and finally obtaining an ionospheric scintillation monitoring result. Establishing a reliable ionospheric scintillation monitoring index; according to the ionospheric scintillation monitoring method based on the geodetic measurement type receiver, high-precision real-time monitoring of ionospheric scintillation can be realized through a single-epoch ambiguity fixing technology under the condition of not depending on an external precision product, and reliable technical support is provided for space weather monitoring.

The invention relates to the technical field of satellite navigation and intelligent positioning, and discloses an indoor positioning method and system based on Beidou double-frequency signals, and the method comprises the steps: receiving Beidou B1I and B1C double-frequency signals through adaptive signal enhancement and preprocessing; the double-frequency differential carrier phase extraction technology is adopted to form ionosphere-independent combined observed quantity, and ionosphere delay errors are eliminated. Multipath interference is identified and suppressed through a multipath suppression method based on statistical characteristics, and an extended Kalman filtering algorithm is adopted to fuse Beidou double-frequency observed quantity and IMU inertial data to realize multi-sensor information fusion positioning; according to the method, a soft constraint condition is established by utilizing geometric features of a building to optimize a positioning result, a multi-dimensional precision evaluation model is established to predict the positioning precision, and the result is adaptively output, so that sub-meter positioning precision and millisecond response time can be realized in a complex indoor environment, and an effective solution is provided for an indoor positioning technology.

The invention discloses an adaptive filtering Beidou navigation and inertial navigation positioning and attitude determination method and device, and the method comprises the steps: constructing a short-baseline carrier phase and pseudo-range double-difference observation equation through BDS satellite second pulse signals received by a first BDS receiver and a second BDS receiver, and solving the short-baseline carrier phase and pseudo-range double-difference observation equation to obtain the positioning information of a carrier where a second antenna is located; assigning the positioning information of the carrier to the inertial navigation system as an initial positioning value, carrying out positioning and attitude determination on the carrier through the inertial navigation system based on the initial positioning value, and outputting the latest positioning and attitude determination information of the carrier; carrying out Kalman filtering processing on the positioning information of the carrier and the latest positioning and attitude determination information of the carrier, and outputting the optimal attitude and positioning information of the carrier; the Kalman filtering is used for adaptively adjusting noise by using a carrier state vector through innovation analysis; the state vector is constructed by using the positioning information of the carrier and the latest positioning and attitude determination information of the carrier. The problem of error accumulation in the navigation process can be effectively solved, and the positioning precision is improved.

The invention discloses a GNSS anti-interference closed-loop phase self-correction method based on deep learning, and relates to the technical field of satellite navigation and artificial intelligence, and the method comprises the steps: obtaining an anti-interference array output signal and weight information through an array antenna and space-time adaptive processing; extracting a carrier-to-noise ratio, a weight phase feature and historical positioning quality, and constructing a deep learning feature vector; reasoning an array element-level phase correction reference quantity by using a multi-layer perceptron model, and realizing accurate phase compensation of an array output signal by combining phase error layered modeling, quick-change disturbance prediction and weight sensitivity estimation; an anti-interference perception observation covariance dynamic scaling mechanism is introduced into RTK positioning calculation; on-line learning and model updating are triggered through a positioning quality evaluation result, so that the system has an adaptive evolution capability. According to the method, the GNSS carrier phase quality and the positioning precision under the strong interference condition can be remarkably improved, deep fusion of anti-interference processing and high-precision positioning is realized, and the method has important engineering application value.

The invention discloses a PPP / INS / vision / LIDAR tight coupling navigation method based on multi-system real-time precision service, and belongs to the technical field of navigation and positioning. In order to solve the problem of insufficient real-time positioning precision and reliability in a complex urban environment, the invention provides a hierarchical fusion architecture: firstly, by using original data of an inertial navigation system, a visual sensor and a laser radar, high-precision and high-frequency local pose estimation is generated through tight coupling factor graph optimization; the accumulative error of inertial navigation is effectively inhibited; then, taking the local attitude as observation information, and performing tight coupling factor graph optimization on the observation information, a precise orbit obtained by PPP enhanced service decoding and a GNSS original observation value after clock correction, namely a pseudo range and a carrier phase; multi-source information is deeply fused on the observation value level, the complementary advantages of the sensors are fully played, and finally continuous and reliable centimeter-level high-precision positioning in the urban complex environment is achieved.

The invention relates to the technical field of engineering monitoring, in particular to an unmanned aerial vehicle dynamic monitoring and early warning system and method for the whole subway tunnel excavation process, and the system comprises a virtual base station differential positioning module which is used for carrying out the unmanned aerial vehicle dynamic monitoring and early warning according to a carrier phase observation value transmitted by a ground active control target and a satellite signal observation value obtained by an airborne receiving end, and calculating ionosphere residual values and troposphere residual values between the current position of the unmanned aerial vehicle and the three adjacent ground active control targets. According to the method, the pixel gradient vector of the thermal inertia matrix is further calculated, the edge candidate points exceeding the threshold value are extracted, and the edge candidate points are closed in the gradient vertical direction to form the geometric region, so that the fuzzy thermal field anomaly is converted into the quantized graph with the definite physical boundary, and the hidden danger area and the internal gradient mean value are combined for calculation; the risk early warning level can be dynamically generated according to the tunnel design tolerance, so that recognition and hierarchical management and control of hidden geological disasters are realized on the premise of not contacting the ground.

The invention discloses a positioning and attitude determination method and device integrating Beidou navigation and inertial navigation, and relates to the technical field of attitude measurement, the method comprises the following steps: correcting a gyroscope error by using an accelerometer error and a magnetometer error based on proportional integral operation to obtain a gyroscope output after error correction; using the gyroscope output after error correction to update the quaternion of the moving object, using the quaternion to calculate the attitude, and obtaining the attitude angle of the moving object under the carrier coordinate system calculated through inertial navigation; moving object positioning and attitude determination calculation is carried out by using the time difference of the satellite carrier phase double differences between the double BDS receivers and the different groups of satellites, and the attitude angle of the moving object under a carrier coordinate system calculated through Beidou satellite navigation is obtained; and performing Kalman filtering fusion on the attitude angle calculated by inertial navigation and the attitude angle calculated by Beidou satellite navigation to obtain a final attitude angle. The method can adapt to a dynamic environment, and the attitude measurement precision is improved.

The invention relates to the technical field of fire-fighting navigation systems, and discloses a high-precision Beidou navigation system based on fire-fighting water source positioning. A water source feature acquisition module of the system acquires fire hydrant and underground pipe network surface material reflectivity data through a multispectral imager, and generates a water source feature vector set; the Beidou signal enhancement module is used for carrying out error correction on the original Beidou satellite signal by adopting a carrier phase difference technology; the dynamic base station network is used for deploying a plurality of base station nodes in an urban building dense area, and each node synchronously receives Beidou signals, calculates atmospheric delay errors and transmits the atmospheric delay errors to the central processing module through a wireless ad hoc network; the three-dimensional terrain matching module is used for carrying out iterative alignment on the building contour data scanned by the laser radar and the urban GIS elevation data, and establishing a centimeter-level precision three-dimensional model of the surrounding environment of the fire-fighting water source; and the multi-source data fusion module is used for receiving all the data and outputting optimal positioning coordinates of the fire-fighting water source.

The invention relates to the technical field of satellite navigation and wireless communication, and discloses an indoor positioning method and system based on feeder multiplexing Beidou double-frequency, and the method comprises the steps: receiving outdoor B1I and B2a signals through a high-gain Beidou double-frequency receiving antenna, carrying out the frequency separation and signal conditioning through a double-frequency separation filter, and carrying out the positioning of the B1I and B2a signals; and transmitting the B1I signal to an indoor distributed antenna for broadcasting through the existing communication feeder network, and transmitting the B2a signal to a central directional antenna to establish a time synchronization reference. A mobile terminal receives a dual-frequency signal, capturing and tracking are carried out through digital signal processing, and pseudo-range and carrier phase observation values are extracted. And performing pairing processing on observation data of the same antenna, calculating a dual-frequency pseudo-range difference value, eliminating system errors, and performing position calculation by adopting a weighted least square method and Kalman filtering. The method solves the problem that the traditional GPS signal cannot cover the indoor environment, and has a good application prospect in the scenes of underground commercial complexes, tunnels, parking lots and the like.

The invention discloses an ionospheric scintillation monitoring method based on a lightweight GNSS receiver, which belongs to the technical field of navigation, and comprises the following steps: extracting data through a lightweight GNSS receiver board card, carrying out detrending processing on signal intensity and carrier phase measurement values, calculating a scintillation index and adjusting parameters according to user requirements, and recording scintillation data according to a threshold value. Flicker types are distinguished through interference identification, and regional networking monitoring and visualization are realized through a cloud server; according to the ionospheric scintillation monitoring method based on the lightweight GNSS receiver, flexible monitoring, accurate identification, regional collaboration and data full-period service are realized, and the flexibility, accuracy and data value of ionospheric scintillation monitoring are effectively improved.

A Global Navigation Satellite System (GNSS) receiver receives band-limited composite signals corresponding to respective satellites in the GNSS. The composite signal is composed of a direct path signal and a multipath signal. For chip edge hopping of a pseudo-random code, the receiver obtains correlation samples (I (t) samples and Q (t) samples) of the composite signal and compares them with predetermined filter characteristics (SR (t) samples) corresponding to a filter for band-limiting the composite signal. Based on the comparison, the receiver determines a phase and / or a response time error of the chip edge hopping due to the multipath signal. The receiver adjusts a pseudo-range measurement for the respective satellite and / or adjusts a carrier phase measurement for the respective satellite in accordance with the determined and / or adjusted pseudo-range measurement for the respective satellite. The receiver performs a navigation function using the adjusted pseudo-range and / or carrier phase measurements for the respective satellites.

The invention relates to a double-antenna BDS-R real-time water level monitoring method and an integrated device, and belongs to the technical field of GNSS remote sensing. The method comprises the following steps: data acquisition; data processing: firstly decoding the received data, and extracting a double-frequency pseudo range and a carrier phase observation value; a second step of performing quality control on the decoded data, including constraint of an elevation angle and an azimuth angle, cycle slip detection and the like, and eliminating non-water-surface reflection signals and abnormal data; a third step of establishing a double-difference observation equation based on the pseudo-range and carrier phase observation value, introducing a horizontal baseline constraint into the observation equation, and enhancing the resolving stability through virtual observation quantity; fourthly, Kalman filtering is used for achieving per-epoch baseline estimation, and a least square ambiguity decorrelation adjustment (LAMBDA) method is used for solving a baseline fixed solution; and finally calculating the water level of the current epoch by using the baseline vector. And transmitting data. According to the invention, the problems of poor real-time performance, complex deployment and high cost in the existing water level monitoring technology are solved.

The invention discloses an unmanned aerial vehicle GPS autonomous inspection method, system and device and a medium, and the method comprises the following steps: obtaining inspection task data of an inspection area, the inspection task data comprising a historical defect database and a preset route; according to defect position distribution recorded in a historical defect database, dividing the inspection area into a plurality of positioning precision grade areas; the unmanned aerial vehicle collects an inspection image in the flight process and performs defect identification on the inspection image to obtain a defect identification result; when the defect identification result shows that an abnormal state is detected, acquiring a position coordinate corresponding to the abnormal state, and uploading defect positioning data to a ground control station; and updating the historical defect database according to the newly added defect positioning data. According to the method, the limitation of a global unified positioning mode in the traditional technology is broken through, a carrier phase difference positioning mode is automatically started in a defect high-incidence area and the periphery of a high-risk defect, and it is ensured that the defect of a key position can be accurately calibrated and tracked.

The invention relates to an IRNSS navigation signal simulation generation method and system based on parameter compensation, and the method comprises the steps: receiving original signal data outputted by an IRNSS navigation receiver, and receiving a target machine position coordinate and a velocity vector; analyzing the navigation message to extract ephemeris parameters, and calculating the real-time position and velocity vector of the satellite; calculating a Doppler frequency compensation value and a pseudo code time delay compensation value; according to the pseudo code time delay compensation value and a preset target simulation coordinate, modifying a signal emission time field in the navigation message, generating a simulation navigation message frame, carrying out forward error correction coding processing, generating a coding symbol sequence, and carrying out modulo-two addition operation on the coding symbol sequence and a pre-generated PRN pseudo code sequence to obtain a baseband spread spectrum signal; generating an intermediate frequency carrier signal according to the Doppler frequency compensation value and the carrier phase; and modulating the baseband spread spectrum signal to the intermediate frequency carrier signal, and outputting an intermediate frequency analog signal. According to the invention, the concealment of signal simulation and the success rate of capturing the analog signal by the target receiver can be improved.

The invention discloses a lightweight laser inertial odometer repositioning method for an electric power inspection unmanned aerial vehicle platform, which has the effects that firstly, global positioning information is acquired by using a high-precision real-time dynamic carrier phase difference technology, initial coarse registration between a point cloud map coordinate system and an unmanned aerial vehicle starting coordinate system is realized, and a reliable pose initial value is provided; secondly, constructing a dynamic quality feedback and adjustment closed loop in a fine registration stage: calculating an average effective residual error and an effective matching rate of matching of a current laser point cloud frame and a map in real time so as to quantitatively evaluate registration quality; and if the registration quality is lower than a preset threshold value, searching is automatically carried out in a limited attitude space, an optimal attitude correction amount is searched by taking the comprehensive quality score as an optimization target, and a global pose is corrected according to the optimal attitude correction amount. And finally, after the registration quality meets the requirement, updating the global map, completing accurate alignment of the global map and the coordinate system of the current radar frame, and providing accurate initial state input for a subsequent laser inertial odometer.

The invention relates to the technical field of satellite navigation meteorological remote sensing, and discloses a water vapor ionized layer snow depth integrated detection method and system. The method comprises the steps that direct and reflected signals of a Beidou satellite are received through fusion antenna array differentiation, carrier phase and pseudo-range observation values are obtained through carrier tracking loop synchronous demodulation, the total atmospheric rainfall amount and the total ionosphere electron content are extracted through a troposphere and ionosphere combined calculation algorithm, the snow depth is inverted through reflection path geometric difference, and the snow depth is calculated. And carrying out space-time synchronization constraint processing on the extended Kalman filter to realize multi-parameter integrated detection. The problems of low efficiency, insufficient precision and lack of cooperative processing caused by independent observation of water vapor, ionized layer and accumulated snow parameters in the prior art are solved, and the observation efficiency and the measurement precision of multi-parameter integrated detection are improved.

The invention discloses a non-cooperative signal carrier frequency estimation method and system in a motion state, and relates to the field of wireless communication and signal processing, and the method comprises the following steps: selecting an energy prominent frequency point in a frequency spectrum of a non-cooperative signal, and combining the resolution of the frequency spectrum to obtain a carrier frequency coarse estimation value; carrying out frequency mixing down-sampling processing, windowing and nonlinear transformation on the non-cooperative signal, carrying out time-frequency conversion, and utilizing a DFT spectrum peak decimal correction method to obtain a frequency fine estimation value to compensate the carrier frequency coarse estimation value so as to obtain a carrier frequency fine estimation value; selecting an observation time period, and calculating a carrier phase observation value according to the carrier frequency fine estimation value; and after the carrier phase observation value is compensated according to the motion phase compensation item and is represented as a standard linear regression form, calculating the carrier frequency deviation to compensate the carrier frequency fine estimation value so as to obtain an accurate carrier frequency estimation value. According to the invention, the problem that the carrier frequency estimation deviation of the non-cooperative signal in the motion state is increased can be solved.

Various aspects of the present disclosure relate to carrier phase measurement using reference frequency and reference time. An apparatus, such as a user equipment (UE), receives signaling comprising one or more reference symbols of one or more transmission-reception points (TRPs). The UE transmits signaling comprising a carrier phase measurement generated based at least in part on a carrier phase of the one or more reference symbols relative to a carrier phase of a reference cell of the UE at a reference frequency and a reference time within a measurement time window.

The present disclosure provides a method in a network node for carrier phase measurements in a communication network. The method includes: obtaining a carrier phase measurement update rate for a UE moving through the network, based on a carrier frequency and a velocity of the UE; and sending the carrier phase measurement update rate to the UE in a carrier phase measurement update rate configuration.

The application discloses a precise satellite navigation data processing method, device and equipment and a storage medium. The method comprises the following steps: acquiring reference station data corresponding to a plurality of reference stations in a target test area, wherein the target test area is pre-set; calling a preset carrier phase observation model to process the reference station data corresponding to the plurality of reference stations respectively to obtain phase bias data corresponding to the plurality of reference stations, wherein the phase bias data is used for representing phase delay error, satellite orbit error and satellite clock error; and performing fusion processing on the phase bias data to obtain target area phase bias. The application calculates the phase bias data by using the reference stations in a specific area, so that the satellite ephemeris error is fused in the phase bias data of the satellite, the phase bias data can resist the error from the satellite orbit in the use process of a PPP-RTK server, and the positioning accuracy of the PPP-RTK server is improved.

The invention relates to the technical field of dental image shooting, and discloses a label-based intelligent positioning method and device, a positioner and a ray machine, and the method comprises the steps: collecting response signals of a plurality of induction labels of an imaging sensor aiming at a signal transmitted by a label positioner arranged on the ray machine, and receiving signal intensity and carrier phase information; the method comprises the following steps: estimating an estimated distance for any induction tag by fusing a linear relationship between an attenuation model of received signal strength and a carrier phase, and eliminating a single tag error by utilizing multi-point sampling in combination with the estimated distance and position information of all the induction tags and a position offset generated by a positioning imaging sensor relative to a ray machine, so as to realize submillimeter-level accurate positioning. The alignment accuracy and efficiency of the two are improved, so that the position is accurate when the dental X image is shot, and the imaging sensor is ensured to completely fall into the range of the projection area; the device is flexible in installation, low in cost, small in angle dependence, and suitable for low-power-consumption scenes where the size of the sensor in the oral cavity is limited and no independent power supply exists.

The invention relates to the technical field of coherent laser radar detection and imaging, in particular to a Doppler tomography laser radar imaging device based on carrier phase noise compensation and an optimization method. Phase noise is accurately estimated through a double-reference channel structure, an image quality evaluation index is adopted as a parameter optimization basis and a compensation effect judgment standard, target echo phase noise is accurately compensated, and therefore high-resolution Doppler tomography of a high-speed spinning target at the rotating speed of 30 Hz is achieved under the condition that the optical path difference exceeds the distance of 80 times of the laser coherence length. The method is designed for the broadband characteristic of the echo signal of the Doppler tomography laser radar, and has the characteristics of high compensation precision, wide distance dynamic range, low manufacturing cost and the like.

The invention discloses an ionosphere real-time monitoring method, device and system, and a storage medium, and the method comprises the steps: configuring a multi-frequency GNSS receiver on a low-orbit satellite, obtaining a navigation satellite signal in real time, rapidly calculating the total electron content of an oblique ionosphere through the dual-frequency carrier phase difference, and calculating the observation confidence based on a Kalman filtering model; further, the satellite end carries out anomaly monitoring through a dynamic threshold value, and respectively generates and downloads a compressed observation flow containing a quality index and original carrier phase observation data fragments in a time window before and after the anomaly is triggered; and the ground station performs weighted fusion on the compressed observation flow according to the confidence coefficient to generate high-precision TEC data. According to the technical scheme, high-precision TEC data products for ionosphere research and abnormal original data products for deep diagnosis are finally produced through on-satellite intelligent processing and selective downloading, communication bandwidth occupation can be remarkably reduced, and observation real-time performance and data reliability are improved.

The application provides a method for relative positioning of a UAV group based on Kalman filtering and multi-sensor fusion. The method acquires a multipath radio frequency carrier signal transmitted by a reference UAV and received by a multi-channel adaptive array antenna data link terminal carried by a target UAV; extracts carrier phase difference characteristics of the signal between each physical channel; acquires six-degree-of-freedom inertial navigation observation data collected by an on-board inertial measurement unit; performs kinematic state extrapolation based on the observation data to generate prior relative pose prediction data; converts the carrier phase difference characteristics into reference relative pose mapping data in a radio frequency observation space; and performs state observation feedback correction on the prior relative pose prediction data based on Kalman filtering using the mapping data to generate posterior relative pose positioning data. The application can effectively suppress positioning drift under high maneuvering state and improve relative positioning accuracy in a complex electromagnetic environment.

The application discloses a kind of three-dimensional coordinate precision positioning monitoring method and system based on BDS, belong to satellite navigation and positioning technical field, it specifically includes: by receiving navigation satellite signal, calculating pseudorange measurement and carrier phase observation value;Adopt multi-path detection algorithm and dynamic multi-path error model eliminates multi-path effect, and utilize error source model correction pseudorange measurement;Combining real-time environmental data with preset calibration model calculates dynamic calibration parameter, and re-modifies pseudorange measurement;Using carrier phase difference algorithm resolves position, outputs three-dimensional coordinate and displacement variation;The method is by comprehensive processing multi-path effect and dynamic calibration, realizes high-precision, real-time displacement monitoring.