Abstract
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 10−2m/s when compared with the VDFF-ARUKF method and the ARUKF method using the CPDD observations.
Highlights
Velocity is one of the most basic navigation information provided by the satellite navigation receivers
In order to analyze the standalone velocity estimation (SVE) performance of the VDSFARUKF method, the performance of the original Adaptively Robust Unscented Kalman Filter (ARUKF) method was evaluated by using the actual experimental data
In the X, Y, and Z directions of the ECEF coordinate system, comparing SVE results shown in Figure 7 with the SVE results in Figure 5, it can be seen that the SVE results of the Velocity Domain Selective Fusion (VDSF)-ARUKF method in the X, Y, and Z directions are better than those of the ARUKF navigation solution method based on the Carrier-Phase-Derived Doppler (CPDD) observations
Summary
Velocity is one of the most basic navigation information provided by the satellite navigation receivers. By appropriately expanding the variance of the anomaly observations to reduce the influence of the gross errors on the state estimation, the reliability of the filter-based navigation solution method can be improved. In order to speed up this improved ARUKF method, once the fault is detected, it is directly determined that the navigation solution result of the current subfilter in the velocity domain is invalid, and the detection and isolation of the gross errors are not further performed; when the fault detection process is passed, the navigation solution result of the subfilter in velocity domain is sent to the selective fusion step At this data fusion step, the result of the filtering using the CPDD observation or the result of the filtering using the raw Doppler observation is selected according to the selective pseudorange observation. The contradiction between the calculation amount and the accuracy of the filtering navigation solution can be partially solved by the above strategies
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