一种联合载波相位观测值的GPS/BDS滤波导航算法

提出了一种基于历元间相位差分的GPS/BDS单机实时动态定位算法。该方法采用历元间载波相位差分数据准确计算出载体的位置变化量;并以此描述载体的运动状态变化,建立动态定位滤波模型的状态方程。同时以历元间载波相位差分数据与伪距数据作为主要观测值,采用扩展Kalman滤波实时估计载体的位置和钟差。采用自主编制的软件对静态与车载GPS/BDS实测数据进行处理,结果表明:采用该方法,定位结果精度优于传统的标准单点定位算法与载波相位平滑伪距算法;而且算法具有较好的稳定性,与载体的运动状态无关。

A Kalman Filter Algorithm of GPS/BDS Navigation Using Inter-Epoch Differenced Carrier-Phase Measurements

The paper proposed a kinematic GPS/BDS single point positioning algorithm based on inter-epoch differ-enced carrier-phase measurements. Inter-epoch differenced carrier-phase measurements were used to calculate in-ter-epoch position differences accurately which would be utilized to describe a carrier s movement and establish the state equation of the dynamical system. The position and clock offset were estimated via an extended Kalman filte-ring using pseudo-range and inter-epoch differenced carrier-phase measurements. Finally a static and a kinematic GPS/BDS observation data on a vehicle were processed by our own software based on this Kalman filtering algo-rithm. The results of the static case and kinematic case showed that the standard deviations of this Kalman filtering solution were better than those of the standard point positioning and carrier phase smoothed pseudo-range. This al-gorithm has nothing to do with movement conditions of carrier and can be used to car-borne ship-borne and air-borne and so on.