基于卡尔曼滤波算法的卫星导航高精度定位方法  

High precision positioning method for satellite navigation based on Kalman filter algorithm

作　　者：裴勇军 徐晓新 毛梅娟 PEI Yongjun;XU Xiaoxin;MAO Meijuan(Quzhou Institute of Surveying and Mapping,Quzhou Zhejang 324000,China;Kecheng Branch of Quzhou Institute of Land and Space Planning and Design,Quzhou Zhejang 324000,China;Zhejiang Zhenbang Geographic Information Technology Company Limited,Quzhou Zhejang 324000,China)

机构地区：[1]衢州市测绘院,浙江衢州324000 [2]衢州市国土空间规划设计研究院柯城分院,浙江衢州324000 [3]浙江振邦地理信息科技有限公司,浙江衢州324000

出　　处：《北京测绘》2023年第10期1412-1417,共6页Beijing Surveying and Mapping

摘　　要：为保证卫星导航的定位精准性,降低定位误差,提出基于卡尔曼滤波算法的卫星导航高精度定位方法。该方法采用支持向量机分类卫星导航信号,获取信号中不含伪距的直达信号,依据该信号获取终端接收机的三维空间坐标;将该坐标和接收机的时钟偏差以及频率漂移作为核心,采用改进的卡尔曼滤波算法获取终端接收机的位置坐标,即卫星导航的定位结果;并采用粒子群算法优化卡尔曼滤波算法获取的定位结果,以此提升卫星导航定位精准性。测试结果显示:该方法具有较好的应用性能,在X、Y、Z三个方向上的定位误差结果均在5 m以内;高程定位误差均在3.5 m以内,可精准完成导航载体所在位置的定位,掌握导航载体的运动轨迹。In order to ensure the positioning accuracy of satellite navigation and reduce the positioning error,a high-precision positioning method for satellite navigation based on Kalman filter algorithm is proposed.This method uses support vector machine to classify satellite navigation signals,obtain direct signals without pseudorange in the signals,and obtain threedimensional spatial coordinates of the terminal receiver according to the signals;Taking the coordinates and the clock deviation and frequency drift of the receiver as the core,the improved Kalman filter algorithm is used to obtain the position coordinates of the terminal receiver,that is,the positioning results of satellite navigation;The particle swarm optimization algorithm is used to optimize the positioning results obtained by the Kalman filter algorithm to improve the accuracy of satellite navigation and positioning.The test results show that the method has good application performance,and the positioning error results in X,Y and Z directions are within 5 m;The elevation positioning error is within 3.5 m,It can accurately locate the position of the navigation carrier and master the movement track of the navigation carrier.

关 键 词：卡尔曼滤波 卫星导航 高精度定位 频率漂移 时钟偏差 卫星导航信号 

分 类 号：P228.4[天文地球—大地测量学与测量工程]