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Detection and repair method for single gross error of observed quantity in satellite navigation system

A technology of a satellite navigation system and a repair method, which is applied in the field of detection and repair of a single gross error in a satellite navigation system, can solve problems such as poor safety and reliability, and achieve the effect of high reliability and accurate detection position

Active Publication Date: 2015-12-30
CHINA UNIV OF PETROLEUM (EAST CHINA)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the case of gross errors, the currently commonly used single gross error detection and repair method mainly detects gross errors based on the sum of squared residuals or the absolute value of individual residuals, which has poor security and reliability.

Method used

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  • Detection and repair method for single gross error of observed quantity in satellite navigation system
  • Detection and repair method for single gross error of observed quantity in satellite navigation system
  • Detection and repair method for single gross error of observed quantity in satellite navigation system

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Experimental program
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Embodiment

[0038] Embodiment: Step 1: the pseudorange observation equation of the global satellite navigation system GNSS is AX=L, and in the stochastic model, the weight matrix is ​​P, expressed as

[0039]

[0040] In the formula, X is the position parameter vector, A is the coefficient matrix, and the observed quantity is L, expressed as L=[l 1 l 2 …l k …l n ] T . According to the least squares estimation method, the estimation of the location parameter vector X is obtained, and the residual error corresponding to the observation L is expressed as:

[0041] V=(I-A(A T PA) -1 A T P) L=L-AX=e=[v 1 v 2 … v k … v n ] T , where I is the identity matrix.

[0042] Described step two comprises steps:

[0043] S201: Calculate the residual corresponding to the unit vector according to the pseudorange observation equation;

[0044] The unit vector group is b k ,k=1,2,...,n, unit vector group includes n vectors, unit vector b k for b k =[00...1...0] T , indicating that the k...

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Abstract

The invention discloses a detection and repair method for a single gross error of observed quantity in satellite navigation system. The method includes the following steps that according to a random model and a satellite observed quantity of the current epoch, a pseudo-range observation equation is built and solved, and the residual error according to the observed quantity is obtained; according to the observed quantity and the residual error corresponding to the observed quantity in the first step, a gross error initial value of each component of the observed quantity is obtained; according to the gross error initial values in the second step, iterative search is carried out on the gross error initial values, and a gross error detection value of each component of the observed quantity is obtained; the gross error detection value of each component of the observed quantity in the third step is judged, gross error detection positions are obtained, and gross error repair is carried out on the corresponding component of the observed quantity. The method has the advantages that gross error evaluation values can be successfully searched for in the possible gross error range; by means of position judgment, the actual position of the gross error can be accurately obtained. Compared with the prior art, the detected gross error detection values are more close to a gross error actual value, the detection positions are more accurate, and reliability is high.

Description

technical field [0001] The invention relates to the technical field of satellite navigation, in particular to a method for detecting and repairing a single gross error of observations in a satellite navigation system. Background technique [0002] At present, GNSS can provide all-weather and global navigation, positioning and measurement services for land, sea and air, and has been widely used in many industries such as transportation and surveying and mapping. Due to its high precision and automatic measurement characteristics, as an advanced measurement method and new productivity, it has been integrated into various application fields of national economic construction, national defense construction and social development. [0003] Although GNSS has the above advantages, because its observations are greatly affected by the quality of satellite data and the external environment, and with the increase of GNSS systems, more and more observation data, the risk of gross errors ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/42
CPCG01S19/42
Inventor 姬生月王振杰
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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