GNSS carrier phase and Doppler fusion speed measurement method assisted by adaptive kinematics model

Abstract

The invention discloses a GNSS carrier phase and Doppler fusion speed measurement method assisted by an adaptive kinematics model. When there is an observation vector of a target carrier at the kth moment, filtering processing is carried out by using a filtering result at the (k-1)th moment, a state vector prior estimation and a covariance matrix Pk|k-1 at the kth moment is obtained; pseudo-observation vectors are obtained, least square estimation is carried out, and a state vector posteriori estimation and covariance matrix Pk|k at the kth moment is obtained; the state vector posteriori estimation covariance matrix Pk|k and the cross covariance matrix Ck are set according to a resetting matrix; and the speed of the target carrier at the kth moment is determined, k is made to be equal to k+1, the process of determining the speed of the target carrier at the kth moment when the observation vector of the target carrier at the kth moment exists continues to be executed, so that the speedof the target carrier at the next moment is determined, and the determined speed of the target carrier is higher in precision.

Description

technical field [0001] The invention relates to the technical field of real-time estimation of instantaneous velocity of carriers (such as vehicles, aircraft, satellites, pedestrians, etc.), in particular to an adaptive kinematics model-assisted GNSS carrier phase and Doppler fusion velocity measurement method. Background technique [0002] Speed ​​is an important parameter for carrier navigation. Accurate carrier speed estimation plays an important role in carrier operation planning, control and task execution. Generally, speed is divided into two types: average speed and instantaneous speed. The difference between these two speeds is in many In general, the more intense the carrier dynamics, the greater the difference between the two, and the greater the interval between epochs, the greater the difference between the two. [0003] GNSS technology has become one of the most important and widely used navigation technology. The technology is low in cost, high in precision, s...

AI Technical Summary

Problems solved by technology

Among the three methods, the time difference carrier phase method has the highest accuracy, and the position time difference method has the lowest accuracy in general

[0004] As mentioned earlier, the Doppler method and the time difference carrier phase method have their own advantages and disadvantages in speed measurement: although the accuracy of the Doppler method is not as good as the time difference carrier phase method, the measured speed is the theoretical instantaneous speed

However, the dynamic characteristics of the carrier are generally time-varying. In the traditional scheme, the determined kinematics model is likely to affect the accuracy of velocity estimation, and will also cause a decrease in the accuracy of velocity estimation.

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