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Optimal Doppler-aided smoothing strategy for GNSS navigation

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Abstract

Carrier-phase-smoothed code (CPSC), i.e., smoothing of the code using carrier phases, has widely been used to reduce the code noise in GNSS applications. However, the efficiency of CPSC suffers significantly from cycle slips, interruptions and jitters. The GNSS Doppler, as an instantaneous measurement, is robust and immune to cycle slips and proven useful in GNSS-challenged environments. We develop optimal Doppler-smoothed code based on the principle of minimum variance using the Hatch filter for two typical applications, which are called pure Doppler-smoothed code (PDSC) and continued Doppler-smoothed code. PDSC results from smoothing the code using only Doppler, whereas in case of continued Doppler-smoothed code, the smoothing continues using Doppler once the carrier phase becomes unavailable. Furthermore, in order to refine the Doppler-smoothed code model, a balance factor is introduced for adjusting the contributions of raw code and Doppler measurements to the smoothed code in case the Doppler noise is relatively large. Finally, experiments are carried out to demonstrate the performance of the theory, which verifies its validity and efficiency.

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Acknowledgments

This work is supported by the State Key Laboratory of Geodesy and Earth Dynamics (SKLGED 2014-3-3-E), the NASG Key Laboratory of Land Environment and Disaster Monitoring (LEDM2014B09), the Key Laboratory of Precise Engineering and Industry Surveying of National Administration of Surveying, Mapping and Geoinformation (PF2015-11), the National Natural Science Funds of China (41374031, 41574023, 41171327) and the Fundamental Research Funds for the Central Universities (20133080).

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Authors and Affiliations

  1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Zebo Zhou

  2. Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan, 430077, China

    Zebo Zhou

  3. College of Surveying and Geo-Informatics, Tongji University, Shanghai, 200092, China

    Bofeng Li

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  1. Zebo Zhou
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  2. Bofeng Li
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Correspondence to Bofeng Li.

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Zhou, Z., Li, B. Optimal Doppler-aided smoothing strategy for GNSS navigation. GPS Solut 21, 197–210 (2017). https://doi.org/10.1007/s10291-015-0512-y

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  • DOI: https://doi.org/10.1007/s10291-015-0512-y

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