摘要
在城市无人机飞行过程中,接收到的卫星信号受干扰严重,可见卫星数目减少和卫星信号质量差大大降低了卫星定位导航的精度。随着北斗系统的全球组网完成,多星座融合导航成为发展趋势。针对城市无人机定位应用,提出了一种基于“米”字形伪距残差的GPS/北斗组合伪距定位算法。依据“米”字形伪距残差可检测并排除伪距故障,大大提高了无人机的定位精度。仿真结果表明,该算法相较于传统定位算法,在发生伪距故障情况下,能够检测和排除故障卫星,且将定位精度控制在2 m内。
In the flight of urban drones,the received satellite signals are seriously interfered.It shows that decrease of the satellite number and deteriorated satellite signal quality greatly reduces the accuracy of satellite positioning and navigation.With the completion of Beidou global networking,multi-constellation integrated navigation has become a development trend.Aimed at applications for urban drone positioning,a GPS/Beidou combined pseudorange positioning algorithm based on"meter"shape pseudorange residuals is proposed.Pseudorange faults can be detected and excluded according to"meter"shape pseudorange residuals.Thus,the positioning accuracy of drones is greatly improved.Simulation results show that compared with traditional positioning algorithms,the algorithm can detect and eliminate the faulty satellites in the case of pseudorange fault,and the positioning accuracy can be controlled within 2 m.
作者
王均晖
孙蕊
WANG Junhui;SUN Rui(College of Civil Aviation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《指挥信息系统与技术》
2022年第5期23-26,44,共5页
Command Information System and Technology
基金
国家自然科学基金(41704022和41974033)
南京航空航天大学研究生创新基地(实验室)开放基金(KFJJ20200705)
空中交通管理系统与技术国家重点实验室开放基金(SKLATM201904)资助项目。
