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Standalone Velocity Estimation Method for BDS Receiver Based on Improved ARUKF

机译：基于改进ARUKF的BDS接收机独立速度估计方法

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摘要

The Carrier-Phase-Derived Doppler (CPDD) observation is an important type of observation for high-precision standalone velocity estimation (SVE) with the BeiDou Navigation Satellite System (BDS) receiver. The CPDD observation is susceptible to receiver clock jump, carrier-phase cycle slips, and multipath error. How to improve the accuracy and reliability of the SVE method based on the CPDD observation has become an urgent problem to be solved. Based on the Velocity Domain Selective Fusion (VDSF) strategy, this paper proposes the VDSF-ARUKF method for accuracy and reliability improvement of the SVE results of the original ARUKF method. In this improved ARUKF method, the CPDD observation and the raw Doppler observation are fused together based on the detection statistic under the framework of the Adaptively Robust Unscented Kalman Filter (ARUKF). Based on actual observations of the BDS receiver, a set of testing experiments were designed to verify the effectiveness of this improved ARUKF method. The experimental results show that the SVE method of the BDS receiver based on the VDSF-ARUKF can improve the accuracy and reliability of the ARUKF SVE results of the BDS receiver. In the case of multidimensional gross errors in the CPDD observations, the VDSF-ARUKF method can still obtain the SVE results with the highest accuracy on the order of several 10(-2)m/s when compared with the VDFF-ARUKF method and the ARUKF method using the CPDD observations.
机译：载波相位多普勒（CPDD）观测是北斗导航卫星系统（BDS）接收机进行高精度独立速度估计（SVE）的重要观测类型。 CPDD观测值容易受到接收器时钟跳变，载波相位周期滑动和多径误差的影响。如何提高基于CPDD观测的SVE方法的准确性和可靠性已成为亟待解决的问题。基于速度域选择性融合（VDSF）策略，提出了VDSF-ARUKF方法，以提高原始ARUKF方法的SVE结果的准确性和可靠性。在这种改进的ARUKF方法中，基于自适应鲁棒无味卡尔曼滤波器（ARUKF）的检测统计量，将CPDD观测值和原始多普勒观测值融合在一起。根据对BDS接收机的实际观察，设计了一组测试实验，以验证这种改进的ARUKF方法的有效性。实验结果表明，基于VDSF-ARUKF的BDS接收机的SVE方法可以提高ARDS的BDS接收机SVE结果的准确性和可靠性。对于CPDD观测值中的多维总体错误，与VDFF-ARUKF方法和VDSFF-ARUKF方法相比，VDSF-ARUKF方法仍可以以10（-2）m / s的数量级获得最高精度的SVE结果。 ARUKF方法使用CPDD观测。

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  • 来源
    《Mathematical Problems in Engineering》 |2019年第5期|7278190.1-7278190.14|共14页
  • 作者

    Shen Zilong; Liu Wenxiang; Peng Jing; Wang Feixue; Xiao Wei;

  • 作者单位

    Natl Univ Def Technol, Coll Elect Sci, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Elect Sci, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Elect Sci, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Elect Sci, Changsha 410073, Hunan, Peoples R China;

    Natl Univ Def Technol, Coll Elect Sci, Changsha 410073, Hunan, Peoples R China;

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