摘要
针对智能手机伪距观测噪声大、观测数据不连续、几何强度弱以及内置微惯性测量单元(micro inertial measurement unit, MIMU)的噪声水平大等问题,提出一种基于低轨(low earth orbit, LEO)卫星增强的智能手机GNSS/MIMU紧组合导航方法。根据Walker星座特点和低轨开普勒轨道参数,仿真生成LEO伪距观测数据,对比研究智能手机GNSS单点定位、GNSS/MIMU紧组合和LEO增强的GNSS/MIMU紧组合的定位性能,并通过实测手机数据进行验证。实验结果表明,引入LEO卫星后,平均可见卫星数增加约7颗,LEO卫星更快的运行速度进一步优化了GNSS的几何强度,PDOP平均值降低50%;GNSS/MIMU紧组合相较于GNSS单点定位,东、北、天方向上的定位精度分别提升18%、23%、10%;LEO增强的GNSS/MIMU紧组合相较于GNSS单点定位,东、北、天方向上定位精度分别提升73%、81%、60%,而相较于GNSS/MIMU紧组合分别提升67%、75%、56%。
To address the issues of large pseudorange measurement noise,discontinuous observation data,weak geometric strength in smartphone GNSS observations,and high noise levels in the built-in micro inertial measurement unit(MIMU)of smartphones,a tightly coupled GNSS/MIMU navigation method enhanced by low-Earth orbit(LEO)satellites is proposed.Based on the characteristics of the Walker constellation and the Keplerian orbital parameters of LEO satellites,LEO pseudorange observation data are simulated.The positioning performance of smartphone GNSS single-point positioning,GNSS/MIMU tight integration,and LEO-enhanced GNSS/MIMU tight integration are compared and analyzed.Real smartphone data are used for validation.The experimental results show that after incorporating LEO satellites,the average number of visible satellites increases by about 7.The faster movement speed of LEO satellites further optimizes the GNSS geometric strength,reducing the average PDOP value by 50%.Compared with GNSS single-point positioning,the GNSS/MIMU tight integration improves positioning accuracy in the east,north,and up directions by 18%,23%,and 10%,respectively.The LEO-enhanced GNSS/MIMU tight integration improves positioning accuracy in the east,north,and up directions by 73%,81%,and 60%compared with GNSS single-point positioning,and by 67%,75%,and 56%compared with GNSS/MIMU tight integration.
作者
谢慧
吴有龙
李国利
陈帅
XIE Hui;WU Youlong;LI Guoli;CHEN Shuai(School of Mechanical and Electrical Engineering,Jinling Institute of Technology,99 Hongjing Road,Nanjing 211169,China;School of Intelligent Science and Control Engineering,Jinling Institute of Technology,99 Hongjing Road,Nanjing 211169,China;School of Automation,Nanjing University of Science and Technology,200 Xiaolingwei Street,Nanjing 210094,China)
出处
《大地测量与地球动力学》
北大核心
2025年第9期910-914,共5页
Journal of Geodesy and Geodynamics
基金
江苏省博士后基金(2021K463C)
江苏省产学研合作项目(BY20230867)。
