786 results about "Satellite navigation" patented technology

The invention relates to the technical field of high-precision satellite navigation and positioning, and discloses a multi-modal sensor space-time synchronization method for high-precision data acquisition, which comprises the following steps: constructing a hardware delay observation loop to calculate physical response delay in real time; establishing a receiver clock drift model and extracting a clock drift coefficient; generating a phase lead trigger instruction in response to the delay mean value and the clock drift coefficient cumulant based on the GNSS whole-second target moment; according to the method, a feed-forward control closed loop is constructed by using GNSS clock difference parameters, the intrinsic alignment of the heterogeneous sensor physical sampling action and GNSS atomic time is realized, the real-time alignment of the sensor physical sampling action and the GNSS atomic time is realized, and the real-time alignment of the sensor physical sampling action and the GNSS atomic time is realized. And a strict physical time reference is provided for high-dynamic multi-source data fusion.

The invention provides an unmanned aerial vehicle inspection accurate positioning method and device integrating vision and satellite navigation, and relates to the technical field of aerospace information. According to the method, satellite signal quality features reflecting aerospace information reliability and multi-dimensional features such as visual geometric textures reflecting ground environment features are jointly extracted, and the environment state is deeply perceived; based on real-time dynamic generation of a fusion strategy adaptive to the current environment, a data weight and an algorithm model are intelligently adjusted, and the limitation of a traditional fixed parameter fusion mode is broken through; a specific inspection stage and a target object where the unmanned aerial vehicle is located are understood through visual identification, and a corresponding priori task constraint model is loaded, so that the positioning process closely meets the precision and safety requirements of actual operation. And finally, fusion calculation is carried out under the common guidance of a dynamic strategy and task constraints, so that the problem of inaccurate positioning of the unmanned aerial vehicle in a complex environment is solved, and the environmental adaptability, robustness and task guidance accuracy of a positioning system are improved.

The invention discloses a multi-source navigation data fusion method for an unmanned loader, which comprises the following steps: data acquisition: acquiring environmental perception data of satellite navigation, an inertial measurement unit IMU, a wheel type odometer and a laser radar and camera in real time; performing space-time synchronization preprocessing, realizing multi-source data time synchronization, unifying environment sensing data to a body coordinate system, eliminating abnormal data, and complementing missing data; carrying out dynamic weight calculation, establishing an error model of each sensor, and adjusting a fusion weight by using an error reciprocal exponential weighting method; layering fusion is carried out, a satellite and an IMU are fused through bottom-layer extended Kalman filtering (EKF), a laser radar and a high-precision map are fused through middle-layer ICP, a middle-layer result and a wheel type odometer are integrated through high-layer federated filtering, and high-precision fusion is achieved; and outputting and optimizing a result, outputting navigation data, performing closed-loop optimization, monitoring the health degree of the sensor, and executing redundancy switching when a fault occurs. The system comprises a corresponding processing unit, and a storage medium stores a program for executing the method.

The invention discloses a foundation pit support deformation real-time monitoring method based on edge calculation, and aims to solve the problems of multi-node time synchronization and clock drift compensation caused by unavailability or poor quality of satellite navigation and precise time protocols in an underground or shielded environment. According to the method, through event dictionary learning, partition time slot scheduling and safety coding micro excitation time synchronization, matched filtering decoding, multi-scale arrival time estimation, paired time difference robust fusion, frequency priority and phase speed limit correction and network disconnection time holding, the time synchronization efficiency is improved; the technical effects that multi-source data alignment, deformation field reconstruction and graded early warning are completed on the unified virtual reference time scale, and high-precision synchronization and online drift compensation are obtained without depending on the external time service condition are achieved.

The invention belongs to the crossing field of space geodetics, satellite navigation positioning technology and atmospheric science, and discloses a real-time troposphere delay modeling method for enhancing a global forecasting system. The method comprises the following specific steps: firstly, acquiring zenith fluid static delay and zenith wet delay predicted by earth surface GFS, and constructing a regional grid difference time sequence by taking a fusion result of ERA5 data and a GNSS troposphere delay product as a reference; secondly, fitting the difference to form a GFS enhanced core model; meanwhile, a troposphere delay correction model from the grid height to the target site height is constructed based on ERA5 stratified atmosphere data, time sequence modeling is carried out on model coefficients, and finally refined troposphere delay output at different heights is achieved. The method has the advantages that (1) the real-time troposphere model is high in precision; (2) real-time application can keep robust performance without depending on a GNSS network; (3) expansion and deployment are facilitated; and (4) the real-time performance is strong, and seamless integration precision positioning application can be realized.

The invention discloses a satellite navigation positioning method and device based on scene recognition, electronic equipment and a storage medium, and belongs to the technical field of satellite navigation positioning, and the method comprises the steps: determining the geometric space characteristics of each satellite according to the observation time, the satellite number of each satellite and preset satellite ephemeris information; according to the observation time, the satellite pseudo-range of each satellite and the satellite distance change rate of each satellite, determining the signal quality characteristics of each satellite; determining a satellite observation feature set based on the geometric space features of the satellites and the signal quality features of the satellites; inputting the satellite observation feature set and the satellite signal-to-noise ratio of each satellite into a preset scene recognition model to generate a scene category; and determining the positioning coordinate of the satellite navigation receiver according to the scene category in combination with the satellite signal-to-noise ratio of each satellite and the satellite pseudo-range of each satellite. According to the invention, the problem that satellite navigation positioning is not accurate enough in the prior art can be solved.

The invention discloses an image analysis method and system for quality control traceability of a satellite navigation board, and relates to the technical field of image processing. The method comprises the following steps: synchronously acquiring an image and three-dimensional point cloud data of a radio frequency transmission line area through a high-resolution area array CCD camera and a laser contourgraph; acquiring a transmission line contour based on image identification, and constructing a three-dimensional radio frequency line model through point cloud fitting; detecting the line width and the distance to the ground plane by using the model, and calculating the impedance prediction complexity in combination with a data acquisition error; dynamically calling a characteristic impedance prediction engine based on the complexity to obtain a predicted characteristic impedance sequence; and quality defect judgment is carried out, and traceability control is carried out on defective products. According to the method, a complete technical chain from geometric dimension detection to electrical performance evaluation is established, hidden defects which are difficult to find by a traditional method can be effectively identified, and the quality control precision and the product yield of the satellite navigation board are improved.

The invention provides an inertia / satellite / vision adaptive integrated navigation method and system. The method comprises the following steps: carrying out inertia measurement and navigation calculation to obtain inertia data; calculating satellite navigation observed quantity according to the satellite navigation data and the inertial data, and constructing a satellite observation model; calculating visual navigation observed quantity according to the visual navigation data and the inertial data, and constructing a visual observation model; aiming at a satellite and a visual observation model, respectively adopting an innovation-based adaptive covariance estimation method to obtain satellite and visual observation noise covariance updated values; constructing a satellite and visual navigation health degree, and calculating a satellite and visual fusion weight according to the satellite and visual navigation health degree; controlling updating of satellite and visual navigation observed quantity according to the satellite and visual fusion weight; and calculating a weighted equivalent observation matrix and a noise covariance, and carrying out filtering estimation. According to the method, an adaptive noise estimation and sensor health degree evaluation mechanism is introduced, dynamic weighted fusion of multi-sensor data is realized, and the robustness and precision of a navigation system in complex environments such as satellite signal lock losing and visual feature missing are improved.

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 a traffic drainage signal management method and system based on a Beidou system, and relates to the technical field of Beidou satellite navigation, and the method comprises the steps: obtaining the real-time traffic data of the position and speed of a vehicle at each intersection based on the Beidou system, and transmitting the real-time traffic data to a traffic management platform; carrying out feature matching on the accident identification model trained based on historical emergency data and a deep learning algorithm and real-time traffic data, and identifying an emergency; and constructing a real-time traffic situation map in combination with the identified emergency information and the traffic condition information of the intersections. The vehicle position and speed data are obtained in real time through the Beidou system, emergencies are rapidly recognized and signal lamp timing is dynamically adjusted in combination with a deep learning algorithm, and compared with a traditional fixed timing scheme, traffic flow changes can be responded in real time, frequent start and stop of vehicles are reduced, the road passing efficiency is improved, and the traffic safety is improved. And particularly, in a sudden traffic accident or construction scene, a signal strategy can be quickly optimized, and traffic congestion aggravation is avoided.

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 comprehensive quality evaluation method and system for Beidou deformation monitoring observation data in a complex environment, and relates to the technical field of satellite navigation positioning, and the method comprises the steps: carrying out the comprehensive evaluation of an elevating angle, a signal-to-noise ratio, an epoch difference and an environment model of the observation data of a Beidou single station, and determining the initial quality of the data; based on the double-difference observation values among the multiple stations, the data quality evaluation precision is further improved by combining a double-difference ambiguity resolving method; according to the method, ionosphere delay, three-difference errors and inter-epoch difference errors are used for data fusion, a more accurate quality evaluation result is obtained, and finally, the data are optimized through comprehensive analysis based on the quality evaluation results of various types of data so as to ensure accurate positioning and deformation monitoring. The technology aims at improving the accuracy and reliability of data quality evaluation by comprehensively analyzing influence factors of Beidou observation data in a complex environment, and provides support for geological disaster monitoring, smart city construction and other high-precision application scenes.

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 specifically discloses a satellite navigation interference source positioning method based on a distributed unmanned aerial vehicle, and relates to the technical field of satellite navigation interference resistance. According to the method, firstly, an unmanned aerial vehicle cluster carrying uniform linear array antennas is deployed in a target area, and after parameters of a system are initialized, all unmanned aerial vehicles synchronously collect interference signals and estimate the direction of arrival (DOA) of an interference source; then performing dual-domain interference suppression based on DOA information, calculating an interference source coordinate in combination with an unmanned aerial vehicle coordinate, and performing noise reduction; planning a path by using a path planning model of a multi-modal Markov decision process and a reinforcement learning algorithm to realize tracking of a dynamic interference source; and finally, judging and outputting a final coordinate through Euclidean distance convergence. The method solves the problems of limited coverage of a traditional fixed monitoring station and insufficient positioning precision of a single unmanned aerial vehicle, can efficiently position dynamic and multiple interference sources, improves the positioning precision and the anti-interference capability, reduces the deployment cost, and is suitable for satellite navigation interference source positioning in a complex environment.

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 a positioning end PPP-RTK real-time precision product monitoring method and device, and belongs to the technical field of satellite navigation and positioning. The method comprises the steps that a PPP-RTK positioning result and a post precision coordinate reference value are acquired in real time, ENU direction positioning deviation is calculated, three types of parameters including satellite geometric configuration, product precision and data timeliness are fused to generate a credibility index C, and an alarm threshold value is dynamically adjusted according to the credibility index C; establishing a positioning precision database to support rapid query and analysis; making a multi-level alarm rule for positioning continuity and precision overrun, and presetting a diagnosis item mapping relation; and after the alarm is triggered, data recording, root cause diagnosis and information output are automatically executed, so that full-process automation from abnormal sensing to root cause definite diagnosis is realized. According to the invention, the reliability, the stability and the operation and maintenance efficiency of the PPP-RTK positioning service are remarkably improved through an evaluation-prediction-diagnosis three-layer intelligent closed-loop system.

The invention relates to the cross technical field of satellite navigation, satellite dynamics and the like, in particular to a dynamic orbit determination method based on integer ambiguity fixation, which can obviously improve orbit determination and extrapolation precision, and comprises the following steps: establishing a dynamic orbit determination model, establishing a GPS observation model, and then performing integer ambiguity fixation IAR, a single-difference IAR method adopting single receiver ambiguity correction specifically comprises the steps that firstly, GPS carrier phase observation is divided into continuous tracking segments for processing, for each tracking segment, an average Hatch-Melbourne-Wubbena (HMW) combination is constructed by means of double-frequency pseudo-range and carrier phase data, then cross-segment inconsistency is corrected, integers of wide lane ambiguity are achieved, and a single-receiver ambiguity correction result is obtained. And the corrected wide lane ambiguity is combined with an IF ambiguity floating point estimation value obtained by a least square method for use, and finally, the IF ambiguity difference is constrained as an integer value to realize the fixation of the single-difference ambiguity, and compared with the prior art, the orbit determination precision can be remarkably improved.

The utility model relates to the technical field of satellite navigation, in particular to a satellite navigation anti-interference signal intensifier, which comprises a receiving antenna, a prefilter, a fixed amplification module and an automatic gain module which are sequentially connected, the output end of the fixed amplification module is further connected with a control module, and the control module comprises a peak value detection unit and a switch control unit. Two output ends of the switch control unit are connected with a control end of the automatic gain module, the peak detection unit is used for detecting a signal peak value, and the switch control unit controls the amplification factor of the automatic gain module based on the signal peak value output by the peak detection unit. According to the utility model, the prefilter is used for filtering interference signals, then the peak value detection unit is used for judging the magnitude of the signals, and then the switch control unit is used for selecting different resistors, so that the amplification factor of the automatic gain module is changed, the signals are enhanced, the final signals are in a proper range, subsequent signal processing is facilitated, and the practicability is higher.

The invention discloses a GNSS-R terminal baseband three-ring cooperative tracking method, system and device and a medium, and belongs to the technical field of satellite navigation signal processing, and the method comprises the steps: receiving a digital intermediate frequency BOC modulation satellite navigation signal; establishing a carrier tracking loop, a subcarrier tracking loop and a code tracking loop; performing frequency mixing operation on the digital intermediate frequency BOC modulation satellite navigation signal and a local carrier wave; performing correlation operation on the signal after the frequency mixing operation and a local subcarrier and a local pseudo-random code in sequence; carrying out accumulation processing on a correlation operation result to obtain a correlation accumulation value; respectively calculating error adjustment parameters of the carrier tracking loop, the subcarrier tracking loop and the code tracking loop based on the correlation accumulation values; and when the error adjustment parameters of the carrier tracking ring, the subcarrier tracking ring and the code tracking ring are all within a preset range, outputting navigation data. According to the invention, the problem that a traditional double-ring method cannot fully utilize subcarrier components is solved.

The invention relates to an anti-multipath Beidou antenna design method based on reconfigurable polarization, and belongs to the technical field of satellite navigation and positioning. The method comprises the following steps: fusing data through a distributed sensing and generative adversarial network, and identifying direct and reflected signals by using a decision tree model; constructing a polarization decision model driven by reinforcement learning, and dynamically switching the polarization state of the antenna through a digital phase shifter array, so that the polarization state is matched with a direct signal and mismatched with a reflected signal, thereby realizing multi-path suppression of a polarization domain; a reconfigurable phased array and a digital beam forming technology are combined, a multipath incoming wave direction is predicted, and dynamic null is constructed for spatial filtering; signal tracking and decoupling are carried out by adopting particle filtering and a long-short-term memory network, a vision-inertial navigation cooperation mechanism is introduced, combined suppression and compensation of a dynamic multipath source are realized, and an anti-multipath positioning result is output. And low-cost and high-precision indoor Beidou positioning is realized.

The utility model discloses a shoulder type precise positioning fertilization system which comprises a Beidou / GPS receiving base station, a Beidou / GPS receiving mobile station, a quantitative fertilizer applicator, a server and a user side, and the Beidou / GPS receiving base station and the Beidou / GPS receiving mobile station are in mutual wireless communication connection with a Beidou / GPS satellite navigation positioning system. The Beidou / GPS receiving mobile station is installed on the quantitative fertilizer applicator in an electric connection mode, the quantitative fertilizer applicator is in wireless data transmission connection with the server, the server is in wireless data transmission connection with the user side, the quantitative fertilizer applicator is a shoulder type quantitative fertilizer applicator, and a fertilizer application switch, a mobile communication module, a camera, a control module and a power supply are installed on the quantitative fertilizer applicator. The fertilization switch, the mobile communication module and the control module are electrically connected with the power supply, and the Beidou / GPS receiving mobile station is electrically connected with the control module and the power supply. According to the utility model, the problem of large positioning data information error frequently occurring in the use process of the existing fertilizer applicator is solved, and the common phenomena of fertilizer application position information drifting, overlapping and the like are eliminated.

The invention relates to the technical field of data processing, and discloses an accumulated snow depth detection method and system based on satellite navigation signals. The method comprises the steps that GNSS multi-band signals are collected through a multi-angle fusion antenna array, and direct and reflected signal components are obtained; performing phase tracking on the signal component to obtain an instantaneous phase difference sequence and a Doppler compensation parameter; analyzing the phase difference sequence by using an improved Lomb-Scargle algorithm, and extracting accumulated snow characteristic frequency and amplitude parameters; establishing a double-layer medium reflection model based on the characteristic parameters and performing terrain correction to obtain a theoretical phase difference curve; and through a multi-satellite collaborative inversion algorithm matching theory and an actually measured phase difference, outputting an accumulated snow depth measurement value. According to the invention, the problems of difficult multipath signal separation, poor terrain adaptability and unstable inversion precision in the existing GNSS reflected signal accumulated snow detection technology are solved, and the accuracy and reliability of accumulated snow depth detection under complex terrain conditions are improved.

The invention discloses a GNSS interference detection method based on NMF-SSA, and relates to a GNSS interference detection method. The invention aims to solve the problems of low detection probability, poor precision and poor adaptability to different types of interference in the existing satellite navigation signal interference detection method. The method comprises the following steps: 1, acquiring a satellite navigation signal from a radio frequency front end, and carrying out frequency mixing processing on the satellite navigation signal to obtain a down-conversion complex sampling sequence; performing amplitude normalization on the complex sampling sequence to obtain a target frequency band; performing short-time Fourier transform on the target frequency band to obtain a complex spectrum; obtaining a non-negative matrix based on the complex spectrum; processing the non-negative matrix to obtain a normalized matrix and meta-information of the normalized matrix; 2, constructing an activation aggregation sequence; 3, outputting binary judgment based on the reconstruction energy and the threshold value of the signal; the satellite navigation signal has an interference signal, and the satellite navigation signal has no interference signal. The method is applied to the field of satellite navigation signal interference detection.

The invention belongs to the technical field of satellite navigation communication, and particularly relates to a satellite communication window optimization method based on carrier-to-noise ratio information of a satellite navigation signal in a dynamic environment, a program, equipment and a storage medium. According to the method, the signal-to-noise ratio time sequence is directly predicted for communication satellites with communication and navigation loads on the same platform; for communication satellites with different communication and navigation load platforms, the known historical signal-to-noise ratios and position information of the navigation satellites are utilized to solve the motion state of the antenna of the communication positioning terminal, so that the future signal-to-noise ratio sequence of the communication satellites with unknown historical signal-to-noise ratios is indirectly predicted. Based on the directly or indirectly predicted signal-to-noise ratio satellite sequence of the communication satellite, a communication window suitable for the communication satellite is found, and the error rate is reduced under the condition that the channel environment is severe. According to the invention, prediction of signal-to-noise ratio change conditions of satellites with unknown historical signal-to-noise ratios is completed.

The invention relates to the technical field of satellite navigation and positioning, in particular to a Beidou signal anti-interference method based on space-time state prediction.When the Beidou signal anti-interference method is used, time-space domain parameters, including key information such as directions and phase differences of direct and multi-path signals, of Beidou signals are extracted, and multi-path special suppression measures are combined, so that the anti-interference performance of the Beidou signals is improved; a multi-path signal spectrum peak is subjected to graded attenuation, a positioning result is calibrated in cooperation with a scene correction coefficient, finally, the urban canyon scene positioning precision is achieved, high-precision scene application such as automatic driving and precise surveying and mapping can be stably supported, meanwhile, a prediction model integrating LSTM and Kalman filtering is constructed, a multi-path signal prediction result is output in advance, and the accuracy of urban canyon scene positioning is improved. In cooperation with the rapid matching function of the interference feature library, the method can adapt to the dynamic change of multi-path signals, ensures that interference suppression measures take effect in time, and avoids signal receiving interruption or positioning deviation sudden increase.

The invention discloses an anti-interference method suitable for a satellite navigation signal, and belongs to the field of satellite navigation signal anti-interference, and the method comprises the steps: collecting multi-channel satellite navigation signal data through a receiver array, processing an initial signal through a self-adaptive filtering algorithm to preliminarily reduce noise interference, and obtaining a preliminarily purified signal; extracting a spatial correlation matrix according to the preliminary purification signal, decomposing the matrix by adopting a principal component analysis algorithm to identify dominant spatial features, and determining an interference direction vector; obtaining the spectrum distribution of the direction suppression signal, further separating the spectrum overlapping part by adopting a principal component analysis algorithm, and judging the residual interference residue; through fusion of the direction suppression signal and the residual interference residue, an adaptive filtering algorithm is adopted to iteratively optimize the weight so as to enhance the navigation signal strength, and an optimized enhanced signal is obtained; and calculating a positioning parameter according to the optimized enhanced signal, judging whether the parameter stability meets a preset threshold value, and obtaining a final stable signal.

The invention relates to a navigation receiver rapid positioning method and system based on IMU dynamic position keeping, and belongs to the technical field of satellite navigation positioning. The method comprises the following steps: acquiring auxiliary information initially injected before a navigation receiver transmits, and carrying out local time correction; during flight, dynamic position estimation based on the IMU and capture tracking of the visible satellite are continuously executed in parallel based on the auxiliary information; when five or more satellites are captured, signal emission time is calculated and corrected according to the satellite-ground distance at a local time latch moment and tracked satellite code phase information; executing rapid AGPS iterative solution based on the corrected signal emission time; and performing local time correction according to the local clock error and the approximate time error which are output by resolving, and after time correction, acquiring accurate position and attitude information of the receiver through loose coupling integrated navigation. The method can improve the positioning accuracy of the navigation receiver.

The invention relates to a high-dynamic time division navigation signal tracking method assisted by adaptive Kalman filtering, and belongs to the technical field of satellite navigation. Aiming at the problems of tracking delay, precision reduction and easy lock loss caused by discontinuous loop update in a high dynamic environment in the existing time division navigation signal tracking method, the method comprises the steps of carrier and code stripping, time-slot error identification, adaptive Kalman filter AKF preprocessing and loop filtering and tracking of three-order FLL-assisted four-order PLL. And full-time-slot continuous tracking is realized. The core of the method is that process noise covariance is adaptively adjusted through AKF, optimal estimation and smoothing are carried out on errors, and then processing is carried out through a post-stage loop filter. According to the method, the tracking continuity, robustness and precision in a high dynamic environment are effectively improved.

The invention discloses a shipborne unattended radar alignment calibration system, which relates to the technical field of shipborne alignment calibration and is characterized in that an alignment calibration task list containing conditions such as time / position / waveform parameters is configured and issued through an upper computer terminal, and a shipborne data recording and control unit is used as a center; based on navigation data and a unified time reference provided by a satellite navigation time service and positioning module, the three-dimensional compass outputs attitude data of a ship, task triggering conditions are automatically judged, antenna pointing is adjusted through attitude compensation calculation, or area scanning is executed, so that a task is completed. A radar signal source is controlled to generate a programmable radar analog signal in an active calibration mode and transmit the programmable radar analog signal through an antenna, a target true value track is generated in a passive calibration mode, and meanwhile full-process data with timestamps are recorded in a concentrated mode. According to the invention, the problems of manual dependence and inaccurate time-space control of traditional shipborne calibration in research and development of radar receivers and electronic investigation equipment are solved, and unattended operation and accurate shipborne calibration are truly realized.