The invention discloses a partial ambiguity fixing method combining with comprehensive information, and proposes a partial ambiguity fixing algorithm based on the comprehensive information. The methodcomprises the steps: obtaining an ambiguity floating point solution through EKF, and carrying out the estimation of the coordinates; integrating a cyclic traversal method and elevation angle information, and obtaining the ambiguity floating point solution through the extended Kalman filtering, thereby shortening the ambiguity fixing time while considering the ambiguity fixing reliability, effectively solving a problem that the ambiguity fixing is not reliable when some satellite signals are severely affected, and further improving the positioning accuracy.

Partial ambiguity fixing method combining with comprehensive information

The invention discloses a constrained filtering solving method and device considering an orthogonal function fitting condition. The method includes the following steps that: a code pseudorange and a Doppler observation value are obtained; a single-point positioning observation error equation is formed according to the code pseudorange and the Doppler observation value; a system uniform motion state model is established by using the state estimation value of a position velocity at a previous time point; a robust adaptive filtering model is established according to the single-point positioning observation error equation and the system uniform motion state model, and a current state initial estimation value is obtained with the robust adaptive filtering model; and an orthogonal function is used to fit a previous state estimation value, and a constraint condition is established, and the current state initial estimation value is corrected with the constraint condition. With the constrainedfiltering solving method and device considering the orthogonal function fitting condition adopted, the previous motion information of a receiver can be fully utilized to explore the new available constraint under the premise of not increasing cost; and under a poor occlusion environment where the spatial distribution of visible satellites is poor, positioning offset can be greatly reduced, the motion track of the receiver can be smoothed, the accuracy of a positioning result can be improved, and the stability of filtering can be enhanced.

Constrained filtering solving method and device considering orthogonal function fitting condition

A BeiDou three-frequency single-epoch wide lane/ultra wide lane-based combined positioning method disclosed by the present invention fuses a BeiDou three-frequency single-epoch wide lane/ultra wide lane ambiguity fixing technology in the vehicle-mounted dynamic combined positioning, and guarantees the high-precision positioning under the premise of guaranteeing the continuity. The BeiDou three-frequency single-epoch wide lane/ultra wide lane-based combined positioning method of the present invention provides a state model aiming at the MEMS inertial navigation design, provides a new selectionfor reducing the combined positioning, aims to reduce the cost of a combined positioning system under the premise of guaranteeing the high-precision continuity, guarantees the positioning structure feasibility that takes the satellite positioning as the main and the MEMS inertial navigation as the auxiliary, enables the cost of the vehicle-mounted dynamic high-precision equipment to be reduced effectively, and facilitates the design, research and development of the BeiDou navigation positioning equipment, and the subsequent application of the method can push the engineering application of a BeiDou system in the dynamic positioning field taking the unmanned driving as the representative.

BeiDou three-frequency single-epoch wide lane/ultra wide lane-based combined positioning method

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BeiDou three-frequency single-epoch wide lane/ultra wide lane-based combined positioning method