简介:DuetothedifferentsignalfrequenciesfortheGLONASSsatellites,thecommonly-useddouble-differencingprocedureforcarrierphasedataprocessingcannotbeimplementedinitsstraightforwardform,asinthecaseofGPS.Inthispaperanoveldataprocessingstrategy,involvingathree-stepprocedure,forintegratedGPS/GLONASSpositioningisproposed.Thefirstispseudo-range-basedpositioning,thatusesdouble-differenced(DD)GPSpseudo-rangeandsingle-differenced(SD)GLONASSpseudo-rangemeasurementstoderivetheinitialpositionandreceiverclockbias.ThesecondisformingDDmeasurements(expressedincycles)inordertoestimatetheambiguities,byusingthereceiverclockbiasestimatedintheabovestep.ThethirdistoformDDmeasurements(expressedinmetricunits)withtheunknownSDintegerambiguityfortheGLONASSreferencesatelliteastheonlyparameter(whichisconstantbeforeacycleslipoccursforthissatellite).Areal-timestochasticmodelestimatedbyresidualseriesoverpreviousepochsisproposedforintegratedGPS/GLONASScarrierphaseandpseudo-rangedataprocessing.Otherassociatedissues,suchascycleslipdetection,validationcriteriaandadaptiveprocedure(s)forambiguityresolution,isalsodiscussed.Theperformanceofthisdataprocessingstrategywillbedemonstratedthroughcasestudyexamplesofrapidstaticpositioningandkinematicpositioning.Fromfourexperimentscarriedouttodate,theresultsindicatethatrapidstaticpositioningrequires1minuteofsinglefrequencyGPS/GLONASSdatafor100%positioningsuccessrate.Thesingleepochpositioningsolutionforkinematicpositioningcanachieve94.6%successrateovershortbaselines(<6km).
简介:在地球中的错误方程修理了的IMU(惯性的测量单位)协调第一被介绍。过滤的褪色的Kalman简单地被介绍,它的缺点被分析,然后,适应过滤在IMU/GPS综合航行系统,适应因素被褪色的因素在代替被使用。一个实际例子被给。当在IMU/GPS综合航行系统适用时,结果证明与褪色的因素相结合的适应过滤器有效、可靠。