基于扩展卡尔曼滤波的时钟模型辅助定位算法

在城市峡谷、深坑矿、林地周边等应用场合中，由于卫星信号被遮挡导致接收机观测量不足而无法完成导航解算，提出了一种新的时钟模型辅助定位方法，即同时利用伪距和多普勒观测量，通过扩展卡尔曼滤波器实时估算得到接收机钟偏和钟漂参数，并构建时钟模型，在导航信号缺失情况下利用该时钟模型进行辅助定位。仿真分析和车载实验结果表明，该方法在卫星导航信号缺失后仍然能够继续完成实时定位解算，使得系统可用性得到显著改善。

An EKF-based clock-model-assisted positioning algorithm

Navigation solution cannot be completed due to insufficient observable satellite signals blocked in urban canyons, deep pit mines, the surrounding forest and other application fields. This paper proposes a novel clock model assisted positioning method, which uses pseudorange and Doppler observations to achieve real time estimation of the receiver clock bias and clock drift parameters through an Extended Kalman Filter (EKF). The clock model is built and used to assist positioning in the absence of navigation signals. Simulation and vehicle test results show that this method can complete the real time positioning solution when satellite navigation signals are missing, which makes the system availability significantly improved.