ROBUST POSITIONING OF MOVING OBJECTS ON ANALYTICAL TRAJECTORIES USING SATELLITE NAVIGATION MEASUREMENTS
S.V. Sokolov1, V.A. Pogorelov2, M.V. Polyakova1, K.T. Lomtatidze1
1Moscow Technical University of Communications and Informatics, Rostov-on-Don, Russia
2Don State Technical University, Rostov-on-Don, Russia
Keywords: spatial coordinates, orthodromy, Doppler measurements, pseudo-range measurements, interference distribution class, robust nonlinear filtering
Abstract
A new method of high-precision positioning of mobile objects moving along program trajectories, based on the processing of satellite navigation measurements using robust filtering algorithms, has been proposed. The method is based on the possibility of approximating (in particular, using electronic maps) the program trajectory of an object with a set of trajectory intervals with known analytical dependencies of navigation parameters, as well as the use of robust stochastic filtering methods that take into account the characteristic dynamics of the object and the uncertain nature of the type of interference distributions of Doppler and code satellite measurements. Integration of electronic map information providing high accuracy of trajectory binding and algorithms of robust nonlinear filtering of satellite measurements optimal by the criterion of the minimum nonlinear function of measurement mismatch determined by the class of interference distributions of Doppler and code measurements has been carried out. This makes it possible to significantly reduce computing costs, while significantly improving the accuracy of object positioning. The effectiveness of the proposed method is illustrated by a numerical example.
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