引用本文: 郭磊, 王甫红, 桑吉章, 张万威. 一种新的利用历元间位置变化量约束的GNSS导航算法[J]. 武汉大学学报 ( 信息科学版), 2020, 45(1): 21-27.
GUO Lei, WANG Fuhong, SANG Jizhang, ZHANG Wanwei. A New Inter-Epoch Position Variation Constrained Navigation Algorithm for Stand-Alone GNSS Receiver[J]. Geomatics and Information Science of Wuhan University, 2020, 45(1): 21-27.
 Citation: GUO Lei, WANG Fuhong, SANG Jizhang, ZHANG Wanwei. A New Inter-Epoch Position Variation Constrained Navigation Algorithm for Stand-Alone GNSS Receiver[J]. Geomatics and Information Science of Wuhan University, 2020, 45(1): 21-27.

## A New Inter-Epoch Position Variation Constrained Navigation Algorithm for Stand-Alone GNSS Receiver

• 摘要: 目前常用相位或多普勒观测值平滑伪距的方式提高全球导航卫星系统（global navigation satellite system，GNSS）的导航性能。然而在城市环境下，GNSS观测信号中断严重，且行人等载体运动具有很大随机性，常规的相位平滑伪距或者常速度/常加速度导航算法效果有限。因此，提出了一种基于历元间载体位置变化量约束的单机GNSS导航算法，该算法利用历元间相位差分观测值计算高精度历元间位置变化量，并以此描述载体的运动，构建滤波模型的状态方程，同时利用伪距观测值构建观测方程，采用扩展卡尔曼滤波实时估计载体的位置。实验使用低成本的单频u-blox接收机实测数据，结合该算法进行导航解算。结果表明，静态情况下，导航结果的平面精度优于0.56 m；在动态情况下，平面精度优于1.0 m。在使用基站播发的GNSS差分改正数后，导航平面精度、垂向精度分别提高约49%、46%。该算法性能可靠，即使前后历元仅有4颗卫星连续观测，仍能够提供连续、平滑的实时定位结果，为用户提供更优的导航体验。

Abstract: Phase or Doppler observations are widely used to smooth the pseudo-range to improve the navigation performance of the global navigation satellite system (GNSS) currently. However, in the urban environment, the GNSS observation signal is severely interrupted, and the movement of pedestrians and other carriers is very random. Conventional phase smoothing pseudo-range, or constant speed/constant acceleration navigation algorithms have limited effects. Therefore, a stand-alone GNSS navigation algorithm based on the constraint of the carrier position variation between epochs is proposed. This algorithm uses the phase difference observations between epochs to calculate the high-precision position variation between epochs, and uses this to describe the movement of the carrier to construct the equation of state for the filtering model. Meanwhile observational equations are constructed using pseudo-range observations, and carrier positions are estimated in real time using extended Kalman filtering. The experiments use the low-cost single-frequency u-blox receiver measured data with the algorithm for navigation solution. The results show that, under static conditions, the plane accuracy of the navigation results is better than 0.56 m, and the plane accuracy is better than 1.0 m under dynamic conditions. What's more, once the number of GNSS differential corrections broadcast by the base station is obtained, the navigation plane accuracy and vertical accuracy can be increased by approximately 49% and 46% respectively. The performance of the algorithm is reliable, even if only four satellites are observed consecutively before and after the epoch, it can still provide continuous and smooth real-time positioning results and provide users with a better navigation experience.

/

• 分享
• 用微信扫码二维码

分享至好友和朋友圈