Kinematic-to-Kinematic Integrity Analysis for Long-Baseline Positioning
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Solution Overview
Problem
Existing kinematic-to-kinematic relative positioning technologies face challenges in accurately calculating integer ambiguities and quantifying integrity risk in satellite navigation systems, particularly in long-baseline scenarios, leading to limitations in precision and availability.
Innovation Solution
An improved method based on the LAMBDA integer ambiguity calculation algorithm, which includes partial ambiguity resolution and cycle slip detection using total electron content rate, to enhance ambiguity calculation efficiency and integrity analysis without traversing all integer spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the LAMBDA algorithm is used for integer ambiguity calculation in long-baseline kinematic-to-kinematic positioning, then positioning precision is improved, but calculation complexity increases and convergence speed decreases
Solution Approach 1:
The patent divides the integer ambiguity calculation into two stages: first calculating wide-lane ambiguities using direct rounding method, then calculating narrow-lane L1-frequency ambiguities using the LAMBDA algorithm. This segmentation reduces the complexity and convergence time compared to directly applying LAMBDA to all ambiguities simultaneously.
Solution Approach 2:
The patent performs preliminary calculation of wide-lane ambiguities before applying the LAMBDA algorithm to narrow-lane ambiguities. This preliminary action simplifies the subsequent calculation and improves overall convergence speed in long-baseline scenarios.
2Reliability
If conservative assumption is used that all incorrect ambiguity fixes lead to high-risk positioning errors, then integrity risk calculation is simplified, but navigation availability is unnecessarily limited
Solution Approach 1:
The patent changes the parameter from binary correct/incorrect ambiguity fixation to a probabilistic model that calculates probability of correct fix (PCF) and probability of incorrect fix (PIF). This allows for more nuanced integrity assessment that reflects actual positioning performance rather than assuming worst-case scenarios.
Solution Approach 2:
The patent implements feedback mechanisms through cycle slip detection using total electron content rate (TECR) and through continuous monitoring of ambiguity fixation probabilities. This feedback allows the system to adjust integrity assessments based on actual measurement quality and environmental conditions.
3Measurement precision
If carrier phase measurement is used to achieve centimeter-level positioning precision, then positioning accuracy is improved, but integrity monitoring complexity increases
Solution Approach 1:
The patent uses the same carrier phase measurement data for both high-precision positioning and integrity monitoring. The ambiguity fixation probabilities and cycle slip detection serve dual purposes: ensuring positioning accuracy and providing integrity assessment, thereby reducing overall system complexity.
Data Source
AI summary
The present invention provides an integrity analysis method based on a kinematic-to-kinematic relative positioning scenario, including the following steps: a) establishing a kinematic-to-kinematic relative positioning model, and inputting navigation data; b) calculating a float solution of an integer ambiguity; c) detecting and correcting cycle slips based on a total electron content rate; d) calculating a probability of correct fix and a probability of incorrect fix for the integer ambiguity; e) determining a fault to be detected and a satellite fault probability; 0 calculating a standard deviation δ_(v|CF) and a position domain deviation b_m; and g) calculating an integrity risk value of a carrier phase. The present invention provides an integer ambiguity calculation algorithm for a kinematic-to-kinematic positioning system in the case of a long baseline, to calculate carrier phase integrity.