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INS-assisted GNSS PPP precise dynamic navigation positioning method and system

A navigation positioning and dynamic technology, applied in satellite radio beacon positioning systems, radio wave measurement systems, instruments, etc., can solve the problem of difficulty in re-fixing PPP ambiguity, achieve simple and convenient implementation, improve user experience, and solve practical applications. inconvenient effect

Pending Publication Date: 2022-03-11
WUHAN UNIV
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Problems solved by technology

[0003] Combined systems usually use Kalman filtering to estimate parameters. Accurate function models and stochastic models are the prerequisites for obtaining high-precision parameter solutions. The state space model of GNSS PPP / INS combined systems widely used at present fails to take into account INS drift after GNSS loses lock. Due to the influence of errors, the random model needs to be frequently debugged and established, which brings difficulties to re-fix the PPP ambiguity after the lock is lost.

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  • INS-assisted GNSS PPP precise dynamic navigation positioning method and system
  • INS-assisted GNSS PPP precise dynamic navigation positioning method and system
  • INS-assisted GNSS PPP precise dynamic navigation positioning method and system

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Embodiment Construction

[0052] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0053] The present invention is different from the traditional combined filtering model. The INS position parameter is used as a virtual observation value, and the GNSS PPP ambiguity is solved by the method of adding INS coordinate constraints. The INS error is related to the error of inertial components, the motion state of the carrier, and environmental factors, etc., and the establishment of its stochastic model is relatively difficult. Therefore, the INS position error expression is deduced from the three single-channel INS error equations of east, north, and sky respectively, based on This builds a stochastic model of the INS virtual observations. This function model and stochastic model can adjust the weights of each system in real time according to factors such as observation residuals, INS device levels, and INS calib...

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Abstract

The invention discloses an INS-assisted GNSS PPP precise dynamic navigation positioning method, which comprises the following steps: constructing a GNSS PPP / INS tight combination observation equation and a state equation, and linearizing the equation; constructing an INS virtual observation equation, and establishing a random model of the INS virtual observation equation through a deduced INS random error transfer process; a GNSS PPP wide-lane and ultra-wide-lane combined observation value is constructed, and ionosphere correction, differential code deviation correction and decimal deviation correction of external constraints are carried out; through multiple intermediate processes, firstly, an LAMBDA method is utilized to calculate ambiguity fixed solutions of a wide lane and an ultra-wide lane of a reference star, and then an ambiguity fixed solution of a narrow lane of each frequency point is calculated; and estimating ambiguity fixed solutions of other satellites to obtain a precise dynamic navigation positioning result. According to the method, an INS virtual observation value is constructed from the construction of an appropriate GNSS PPP / INS tight combination filtering model and a combination ambiguity fixed solution, and an improved function model and a random model are provided for mixed integer least square estimation of a GNSS PPP / INS combination system, so that precise dynamic navigation positioning is realized.

Description

technical field [0001] The invention belongs to the technical field of GNSS / INS integrated navigation, in particular to an INS-assisted GNSS PPP precise dynamic navigation and positioning technology. Background technique [0002] GNSS precise point positioning (Precise Point Positioning, PPP) technology relies on externally provided precision orbit, clock error and deviation correction products to achieve centimeter-level high-precision and precise positioning of a single receiver, which is not limited by distance and area. It is widely used in scientific research and commercial applications. Fixed ambiguity is the premise of GNSS PPP precise navigation and positioning. Due to the limitation of GNSS vulnerability, especially in the case of dynamic navigation and positioning, which is vulnerable to occlusion and interference, the ambiguity cannot be maintained or even fixed. PPP takes a long time after the lock is lost. Re-convergence affects its navigation and positioning p...

Claims

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Application Information

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IPC IPC(8): G01S19/47G06F17/13G06F17/16G06F17/18
CPCG01S19/47G06F17/13G06F17/16G06F17/18
Inventor 魏二虎王凌轩刘经南甘雨李岩林
Owner WUHAN UNIV
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