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A Tight Combination Method for Calculating Pseudorange/Pseudorange Rate Using Doppler Velocimeter

A technology of Doppler speedometer and pseudo-range rate, which is applied in the field of navigation and can solve the problems of loss of navigation ability

Active Publication Date: 2021-03-19
中联天通科技(北京)有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

But when it is disturbed, it loses its ability to navigate

Method used

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  • A Tight Combination Method for Calculating Pseudorange/Pseudorange Rate Using Doppler Velocimeter
  • A Tight Combination Method for Calculating Pseudorange/Pseudorange Rate Using Doppler Velocimeter
  • A Tight Combination Method for Calculating Pseudorange/Pseudorange Rate Using Doppler Velocimeter

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Embodiment Construction

[0056] Such as figure 1 Shown, the present invention is divided into the following steps:

[0057] Step 1. Install the strapdown inertial navigation system, laser Doppler velocimeter, and Beidou satellite navigation system on the moving carrier to form an integrated navigation system for the moving carrier. The integrated navigation system is powered on and started;

[0058] Step 2. After the integrated navigation system is powered on and started, the longitude, latitude, and height of the initial position of the moving carrier received by the Beidou satellite navigation system are used as the initial position parameters of the strapdown inertial navigation system, and the initial position parameters are bound to the strapdown inertial navigation system. in the system's navigation computer;

[0059] Step 3. The moving carrier remains stationary for 5 minutes, and the initial alignment is performed according to the initial position parameters of the binding; the specific metho...

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Abstract

The invention discloses a tight combination method for calculating a pseudo range / pseudo range rate by using a Doppler velocimeter. The method comprises: step 1, installing a strapdown inertial navigation system, a laser Doppler velocimeter, and a Beidou satellite navigation system at a moving carrier, and electrifying the combined navigation system for starting up; step two, carrying out initial position parameter binding; step three, keeping the moving carrier to be still for five minutes, carrying out initial alignment to obtain an initial attitude angle; step four, starting a tight combination mode and starting the moving carrier; and step five, carrying out calculation to obtain a pseudo range value and a pseudo range rate value, and carrying out tight combination navigation by using differences between the pseudo range value and pseudo range rate value and pseudo range and pseudo range rate values outputted by a Beidou satellite navigation system as observation values of the combined navigation system. According to the invention, tight combination with the Beidou satellite navigation system is carried out by using the pseudo range value and pseudo range rate value calcualtd by the laser Doppler velocimeter and function complementation is realized; and the pseudo range value and pseudo range rate value of the moving carrier are deduced based on the location of the moving carrier and the Beidou satellite, so that high-precision navigation is realized.

Description

technical field [0001] The invention relates to a tight combination method, in particular to a tight combination method using a Doppler velocimeter to calculate pseudo-range / pseudo-range rate, and belongs to the technical field of navigation. Background technique [0002] The laser Doppler velocimeter can measure the speed of the moving carrier relative to the ground in real time according to the Doppler frequency shift, and its measurement error does not accumulate over time. It can be used in combination with inertial navigation to achieve high-precision navigation. However, as time goes by, system errors will continue to accumulate, and the accuracy of integrated navigation system navigation will also decrease. The Beidou satellite navigation system is a Beidou satellite navigation system independently developed by my country, which can provide high-precision real-time position, speed information, pseudo-range and pseudo-range rate. But when it is disturbed, it loses its...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/49G01C21/18G01S13/58
CPCG01C21/165G01C21/18G01S13/58G01S19/49
Inventor 于强
Owner 中联天通科技(北京)有限公司
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