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Method for realizing INS-assisted GNSS navigation positioning through satellite receiver adaptive CKF algorithm

A satellite receiver, navigation and positioning technology, applied in the field of satellite receivers, can solve the problems of inability of INS to stabilize the baseband of the satellite receiver, large estimation of the linear method, loss of receiver lock, etc., so as to improve the observation quality and correct the baseband tracking error. , the effect of improving stability

Pending Publication Date: 2021-11-26
杭州北斗时空研究院
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Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a satellite receiver adaptive CKF algorithm to realize INS-assisted GNSS navigation and positioning method, which solves the problem that the receiver may lose lock due to Doppler deviation or large environmental interference, and the INS cannot The baseband of the auxiliary satellite receiver is used for stable tracking, and the linear method will produce a problem of large estimation deviation

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  • Method for realizing INS-assisted GNSS navigation positioning through satellite receiver adaptive CKF algorithm
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  • Method for realizing INS-assisted GNSS navigation positioning through satellite receiver adaptive CKF algorithm

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[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0024] see figure 1 The present invention provides a technical solution: a satellite receiver adaptive CKF algorithm to realize INS-assisted GNSS navigation and positioning method, specifically comprising the following steps:

[0025] S1. Structure of INS-assisted GNSS navigation system:

[0026] a. Equation of state: The state of the INS / GNSS ultra-compact combined system is The state equation of the system is x k+1 = Φ k x k +w k (Formula 2), the IN...

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Abstract

The invention discloses a method for realizing INS-assisted GNSS navigation positioning through a satellite receiver adaptive CKF algorithm. The method specifically comprises the following steps: S1, an INS-assisted GNSS navigation system structure: a, a state equation, and b, a measurement equation; S2, an adaptive CKF algorithm: a, a CKF algorithm, and b, an adaptive CKF algorithm; and S3, the uncertainty of the process noise is judged by adopting a hypothesis testing method. The invention relates to the technical field of satellite receivers. According to the method for realizing INS-assisted GNSS navigation and positioning through the adaptive CKF algorithm of the satellite receiver, in order to improve the navigation and positioning precision and stability in a high-dynamic environment with complex interference, an INS / GNSS ultra-tight combination structure is used, I-path and Q-path observation data of a base band of the satellite receiver are utilized, depth data fusion is carried out on position, speed and attitude information provided by an INS, baseband tracking errors are corrected, observation quality is improved, and a nonlinear adaptive CKF algorithm (ACKF) is used to process a nonlinear problem of an observation equation.

Description

technical field [0001] The invention relates to the technical field of satellite receivers, in particular to a satellite receiver adaptive CKF algorithm to realize INS-assisted GNSS navigation and positioning method. Background technique [0002] Satellite TV receiver refers to the equipment for receiving satellite TV signals, usually refers to the indoor unit of the satellite TV receiving station, which consists of the second down converter, channel selection, intermediate frequency bandpass filter, main intermediate amplifier, intermediate frequency demodulation, and baseband processing circuit and other parts, working process: send the first intermediate frequency signal with 500 MHz bandwidth and 24 channels to the second down converter to select the channel, and the second intermediate frequency signal output by it is sent to the intermediate frequency bandpass filter, intermediate frequency amplifier and solution Modulator, decode the baseband signal, and then through ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/42G06F17/11G06F17/13G06F17/15G06F17/16
CPCG01S19/42G06F17/11G06F17/13G06F17/15G06F17/16
Inventor 王天保林城誉车洪峰王大维
Owner 杭州北斗时空研究院
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