A Doppler enhanced TDCP algorithm based on terrain adaptive and robust Kalman filter using a stand-alone receiver

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2022-07-01 DOI:10.1017/S0373463322000339

Kefan Shao, Zengke Li, Zhehua Yang, Zan Liu, Yaowen Sun

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引用次数: 2

Abstract

Abstract Time-differenced carrier phase (TDCP) is a commonly used method of precise velocimetry, but when the receiver is in a dynamic or complex observation environment, the estimation accuracy is reduced. Doppler velocimetry aims at estimating instantaneous velocity, and the accuracy is restricted by the accuracy of measurement. However, in such unfavourable cases, the Doppler measurement is more reliable than the carrier phase measurement. This paper derives the relationship between Doppler observation and TDCP observation, then proposes a Doppler enhanced TDCP algorithm, for the purpose of improving the velocity estimation accuracy in dynamic and complex observation environments. In addition, considering the error caused by the constant speed state update model in the robust Kalman filter (RKF), this paper designs a terrain adaptive and robust Kalman filter (TARKF). After three experimental tests, the improved TDCP algorithm can significantly increase the speed measurement accuracy to sub-metre per second, and the accuracy can be further improved after using TARKF.

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基于地形自适应和鲁棒卡尔曼滤波的多普勒增强TDCP算法

时差载波相位(TDCP)是一种常用的精密测速方法，但当接收机处于动态或复杂的观测环境时，其估计精度会降低。多普勒测速的目的是估计瞬时速度，其精度受测量精度的限制。然而，在这种不利的情况下，多普勒测量比载波相位测量更可靠。本文推导了多普勒观测与TDCP观测之间的关系，提出了一种多普勒增强TDCP算法，以提高动态和复杂观测环境下的速度估计精度。此外，考虑到鲁棒卡尔曼滤波器(RKF)中匀速状态更新模型带来的误差，设计了一种地形自适应鲁棒卡尔曼滤波器(TARKF)。经过三次实验测试，改进的TDCP算法可以将速度测量精度显著提高到亚米/秒，并且在使用TARKF后精度可以进一步提高。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.