Satellite navigation positioning method based on doppler velocity measurement under transient and incomplete condition

Abstract

The invention discloses a satellite navigation positioning method based on doppler velocity measurement under a transient and incomplete condition. The satellite navigation positioning method comprises the steps that normal positioning is conducted under the condition that satellite signals are complete, and related positioning information is stored; when the satellite signals are shielded, and the number of visible satellites is three, the satellite navigation positioning method under the incomplete condition is executed, an auxiliary equation is established according to the relation among doppler frequency offset, the receiver velocity and the satellite velocity, cutoff of first-order terms and linearization of a nonlinear system of equations are conducted through taylor expansion, and then the nonlinear system of equations is calculated through a least square method, so that the position and the velocity of a receiver are obtained; when the number of the visible satellites is recovered to be four or more, a positioning method under the complete condition is executed. The actual test result shows that the satellite navigation positioning method achieves the positioning result required by navigation in the transient and incomplete period of dozens of seconds, and therefore the effectiveness of the GNSS receiver is improved. The satellite navigation positioning method does not rely on additional sensors, does not require additional instruments and meters, does not require electronic map supporting, and is small in calculated amount and free of increase of the system cost.

Description

technical field [0001] The invention relates to a positioning method of a satellite navigation system under short-term incomplete conditions, in particular to a satellite navigation positioning method based on Doppler speed measurement under short-term incomplete conditions, and belongs to the field of global satellite navigation and positioning. Background technique [0002] With the rapid development of aerospace technology, communication technology, and computer technology, the development of satellite navigation systems is also changing rapidly, which has produced great economic and social benefits in scientific research, national economy, and national defense construction. played an increasingly important role. The construction of satellite navigation system has risen to become an important national strategic issue. [0003] The pseudo-range observation equation of single-system navigation receiver positioning calculation contains four unknowns, which are the three-dim...

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Problems solved by technology

[0006] 1. INS (Inertial Navigation System) / GPS combined positioning, this method has mature technology and high positioning accuracy, but requires additional sensors, such as gyroscopes and accelerometers, resulting in high system costs and difficult integration;

[0007] 2. Use electronic map matching to realize double-star or single-star positioning. This method is low in cost, but relies heavily on electronic maps, and has a small scope of application and low positioning accuracy;

[0008] 3. Use other auxiliary equipment, such as barometric altimeter, etc. This method requires additional equipment and is not easy to integrate;

[0009] 4. Single-system dual-star positioning algorithm. This method does not need to introduce other instruments and equipment, and does not rely on electronic maps. It is simple to implement and has a small amount of calculation. However, when the motion state of the receiver changes rapidly, its positioning accuracy is greatly reduced compared with the complete condition. ;

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