1中国人民解放军32021部队 北京 100094
2海南大学信息与通信工程学院 海南 海口 570228
3上海交通大学电子信息与电气工程学院 上海 200240
网络出版日期: 2023-11-03
Processing of Beidou Positioning Error in the Integrated Navigation for Use At Sea
1. 32021 unit of the Chinese people's Liberation Army, Beijing, 100094, China;
2. School of Information and Communication Engineering, Hainan University, Haikou, 570228, China; 3. 3School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
Online published: 2023-11-03
王亚锋
,
黄沛硕
,
喻夏琼
,
宋磊
,
于文彬
.
海上组合导航中北斗定位误差处理方法研究[J]. 海洋工程装备与技术, 2023
Taking the SINS/Beidou loose integrated navigation as the object, the processing method of Beidou positioning error at sea is studied. By analyzing the source of Beidou positioning error, it is pointed out that there is a constant deviation of Beidou positioning error in local areas within a short time. This constant deviation can be compensated by the differential data released by the ground differential stations. However, at this stage, the ground differential stations of Beidou system are mainly concentrated in the key areas of China. For overseas areas, especially marine areas, where there is no ground differential station, the common method is to treat the Beidou positioning error as noise, but this method will sacrifice the accuracy of integrated navigation. In this paper, the constant deviation of Beidou positioning is incorporated into the filter state. And the Kalman filter state expansion method is proposed to estimate this constant deviation to improve the integrated navigation accuracy. Finally, the simulation examples show that the method can effectively improve the positioning accuracy.
Key words: Beidou navigation; loose integrated navigation; Kalman filter
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