公开(公告)号：US10890667B2

公开(公告)日：2021-01-12

申请号：US16094474

申请日：2017-04-13

Applicant: SOUTHEAST UNIVERSITY

Inventor： Xiyuan Chen ,  Bingbo Cui ,  Wei Wang ,  Zhengyang Zhao ,  Lin Fang

IPC: G01S19/47 ,  G01C21/16 ,  G01S5/02 ,  G01C21/20

Abstract: The present invention discloses a cubature Kalman filtering method suitable for high-dimensional GNSS/INS deep coupling, including: S1, constructing a high-dimensional GNSS/INS deep coupling filter model; S2, generating an initialization cubature point for the constructed filter model by using standard cubature rules; S3, performing CKF filtering by using novel cubature point update rules. The present invention is suitable for high-dimensional GNSS/INS deep coupling filtering with high precision and high stability.

公开(公告)号：US10663599B2

公开(公告)日：2020-05-26

申请号：US15511046

申请日：2016-06-27

Applicant: Southeast University

Inventor： Xiyuan Chen ,  Yang Yang ,  Xiying Wang ,  Bingbo Cui ,  Xinhua Tang ,  Xuefen Zhu

IPC: G01S19/25 ,  G01S19/30 ,  G01S5/02 ,  G01S19/23 ,  G01S19/24

Abstract: The present invention discloses a joint non-coherent integral vector tracking method based on a spatial domain, which is used for further improving the performance of a vector tracking GPS (Global Positioning System) receiver. In a new vector tracking strategy design, a phase discriminator/a frequency discriminator in a traditional vector tracking loop is discarded, and baseband signals of visible satellites in each channel are taken as an observation value after performing non-coherent integration, and EKF (abbreviation of Extended Kalman Filter) is used to estimate directly and to solve the position, the velocity, a clock error, etc. of the GPS receiver. Because of the existence of non-coherent integral calculation, when GPS satellite signals are relatively weak, a carrier to noise ratio of an observation value may be effectively improved, and the tracking sensitivity is improved.