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基于载波相位平滑伪距的卡尔曼滤波定位方法.docx

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基于载波相位平滑伪距的卡尔曼滤波定位方法 Abstract TheCarrierPhaseSmoothingPseudo-Range(CPS-PR)basedKalmanFilteringmethodisapopulartechniqueusedfornavigationandpositioningapplications.Thismethodemploysacombinationofcarrierphasemeasurementsandpseudo-rangemeasurementstoachievemoreaccurateandreliablepositioningresults.Inthispaper,wewilldiscussindetailtheCPS-PRbasedKalmanFilteringmethod,itsadvantagesandlimitations,andapplications. Introduction Navigationandpositioninghavebecomeanessentialpartofmodernsocietywithawiderangeofapplicationsinfieldssuchasaviation,maritime,andland-basedsystems.ThetraditionalGlobalNavigationSatelliteSystem(GNSS)techniques,suchasPseudo-Range(PR)andDopplermeasurements,havelimitationsinaccuracyandreliabilityduetovariousfactorslikeionospheredelay,multipath,andreceivernoise.Asaresult,researchersandengineershavedevelopedmoreadvancedtechniquestomitigatetheseissues.OnesuchtechniqueistheCarrierPhaseSmoothingPseudo-Range(CPS-PR)basedKalmanFilteringmethod. CPS-PRbasedKalmanFilteringMethod TheCPS-PRbasedKalmanFilteringmethodcombinestheadvantagesofcarrierphasemeasurementsandpseudo-rangemeasurements,andthismethodprovideshigh-accuracypositioningresults.Thefollowingstepsareinvolvedinthismethod: 1.Carrierphasemeasurement:TheGNSSreceivercalculatesthecarrierphasedifferencebetweenthereceivedsatellitesignalandthelocaloscillatorsignal.Thiscarrierphasemeasurementishighlyprecise,butitisambiguousbecauseitismeasuredasamultipleofthecarrierwavelength. 2.Ambiguityresolution:Toobtainaprecisecarrierphasemeasurementwithoutambiguity,thereceiverneedstoresolvetheintegercycleambiguity.Thisisachievedbyusingaprocesscalledintegerambiguityresolution(IAR),whichcanbedonethroughvarioustechniques,suchasdouble-differencing,phasewrapping,andnetworkRTK. 3.Phasesmoothing:Thecarrierphasemeasurementcontainsnoiseanderrors,whichcanaffecttheaccuracyofthepositioningresults.Tomitigatethis,thecarrierphasemeasurementcanbesmoothedoveracertaintimeperiod,typicallyafewseconds,toremoveshort-termvariations.Thisprocessiscalledph