Abstract
With the rapid development of satellite technology and the need to satisfy the increasing demand for location-based services, in challenging environments such as indoors, forests, and canyons, there is an urgent need to improve the position accuracy in these environments. However, traditional algorithms obtain the position solution through time redundancy in exchange for spatial redundancy, and they require continuous observations that cannot satisfy the real-time location services. In addition, they must also consider the clock bias between the satellite and receiver. Therefore, in this paper, we provide a single-satellite integrated navigation algorithm based on the elimination of clock bias for broadband low earth orbit (LEO) satellite communication links. First, we derive the principle of LEO satellite communication link clock bias elimination; then, we give the principle and process of the algorithm. Next, we model and analyze the error of the system. Subsequently, based on the unscented Kalman filter (UKF), we model the state vector and observation vector of our algorithm and give the state and observation equations. Finally, for different scenarios, we conduct qualitative and quantitative analysis through simulations, and the results show that, whether in an altimeter scenario or non-altimeter scenario, the performance indicators of our algorithm are significantly better than the inertial navigation system (INS), which can effectively overcome the divergence problem of INS; compared with the medium earth orbit (MEO) constellation, the navigation trajectory under the LEO constellation is closer to the real trajectory of the aircraft; and compared with the traditional algorithm, the accuracy of each item is improved by more than 95%. These results show that our algorithm not only significantly improves the position error, but also effectively suppresses the divergence of INS. The algorithm is more robust and can satisfy the requirements of cm-level real-time location services in challenging environments.
Highlights
Traditional global navigation satellite systems (GNSSs), as sophisticated and complex systems, are widely used in navigation, positioning, and timing, GNSSs still cannot overcome their own bottlenecks, such as their weak signal power, coupled with multiple paths, especially in challenging environments, such as lush forests, canyons, cities with tall buildings, indoor locations, and polar regions
low earth orbit (LEO) satellites are closer to the earth, which means that less path loss and the stronger signal power undoubtedly enhance the anti-interference ability of the system, and they are considered to be an important direction for future development
We focused on a comparison of LEO 1 satellite + altimeter and medium earth orbit (MEO) 1 satellit scenarios under the condition of reasonable setting parameters, without a loss of generality
Summary
Traditional global navigation satellite systems (GNSSs), as sophisticated and complex systems, are widely used in navigation, positioning, and timing, GNSSs still cannot overcome their own bottlenecks, such as their weak signal power (only 20 W power interference can cause denial of a cell’s GNSS signal [1]), coupled with multiple paths, especially in challenging environments, such as lush forests, canyons, cities with tall buildings, indoor locations, and polar regions. The study of LEO constellation single-satellite positioning technology solutions based on PNTRC has the outstanding advantage of a high availability, thereby providing an opportunity to solve the problem of location services in the challenging environments mentioned above. References [12,13] proposed a positioning method based on a single-satellite Doppler integral, which has a high positioning accuracy for static targets, but the positioning accuracy decreases rapidly for dynamic targets. The new single-satellite integrated navigation and positioning algorithm based on broadband LEO constellation communication links offers a low-cost approach, a strong engineering practicability, and an anti-jamming scheme. The new single-satellite integrated navigation and positioning algorithm can provide a cm-level navigation scheme for relevant personnel engaged in outdoor tourism, exploration, or scientific research in challenging environments, such as lush forests, canyons, high latitude areas, and polar regions, without relying on GNSS.
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