GNSS assisted relative navigation method and system based on GSM-R communication system

• Main Authors: CHENG JIANHAO, SI YONGBO, LI PENG, SHI JIANQIANG, BAO CHENGQI, CHEN GUANGWU, FAN ZIYAN, YANG JUHUA, XING DONGFENG
• Format: Patent
• Language: Chinese; English
• Published: 15.02.2019
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses a GNSS assisted relative navigation method and system based on a GSM-R communication system. The relative navigation method comprises: obtaining relative navigation network information; selecting multiple sources according to a network hierarchy structure and a GDOP value in the obtained PPLI information and TOA information to obtain multiple source data; collecting GNSS information; obtaining inertial navigation information; using a EKF filter to perform data fusion on the TOA pseudorange information in the multiple source data, the GNSS information, and the inertial navigation information to obtain speed and position information; correcting attitude, deriving attitude information based on the speed and position information, and using the attitude information to correct the attitude angle error of the inertial navigation. The high-precision GNSS positioning information is used to compensate and correct the TOA pseudorange positioning information of the relativenavigation system, there