Double-satellite integrated positioning method based on inertial sensor

Abstract

The invention provides a double-satellite integrated positioning method based on an inertial sensor. The double-satellite integrated positioning method based on the inertial sensor has the advantages that the micro-machined inertial sensor and a satellite navigation system are in integrated design, and accordingly the size and the material cost of a satellite integrated navigation system are reduced; in a double-satellite environment, the satellite navigation system is used for obtaining the observed quantity to provide real-time pseudo-range and pseudo-range rate observation information for a Kalman filter, so that positioning error of micro-machined inertial navigation is corrected; the method is simple, feasible, highly practical and capable of improving applicability of the satellite navigation system in a few satellite environment.

Description

technical field [0001] The invention relates to a satellite navigation system combined positioning technology, in particular to a dual-satellite combined positioning method in a satellite / inertial combined navigation system. Background technique [0002] Micro-mechanical inertial sensor navigation system (MEMS_INS) is a low-cost navigation system. Because the drift error of micro-mechanical gyroscopes is much higher than that of laser and fiber optic gyroscopes, it cannot navigate alone for a long time. It is generally used for tens of seconds. the field of short-term autonomous navigation. Although the GPS satellite navigation system can provide all-weather, high-precision navigation and timing without being affected by meteorological conditions, it is prone to interference, especially in urban canyons, bridge holes and bushes, where satellites are easily blocked and lost stars, position geometric factor (PDOP) ) is a big phenomenon, when there are less than 4 satellites, ...

AI Technical Summary

Problems solved by technology

Although the GPS satellite navigation system can provide all-weather, high-precision navigation and timing without being affected by meteorological conditions, it is prone to interference, especially in urban canyons, bridge holes and bushes, where satellites are easily blocked and lost stars, position geometric factor (PDOP) ) is a big phenomenon, when the receiving satellite is less than 4 satellites, for example, only 2 satellites, the GPS navigation system used alone will not be able to locate and there will be a navigation blind spot

When the GPS receiver receives less than 4 satellites, it does not perform navigation and positioning. It is a pity to waste the observation information received by less than 4 satellites.

[0003] At present, MEMS inertial / satellite integrated navigation systems are very common in the case of GPS receiving more than 4 stars. This type of integrated navigation system is directly downgraded to pure inertial navigation when GPS receiving less than 4 stars. Does not utilize measurements from less than 4 satellites already collected by GPS

The navigation error of this method will diverge sharply without the effective correction of GPS, and it is difficult to meet the needs of high-precision and reliable navigation in the case of GPS with few satellites.

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