GPS 定位与测速算法研究

Study of the Alogorithm for GPS Positioning and Velocity Measurement

给出了ＧＰＳ定位与测速的数学模型，然后在ＧａｕｓＮｅｗｔｏｎ算法的基础上讨论了正常情况下的ＧＰＳ定位与测速的迭代算法，最后给出了只有３颗可见卫星或几何精度因子太大时的处理方法，从而得出了一个完整的ＧＰＳ定位与测速的迭代算法．该算法首先迭代地求定位解，并在迭代中不断更新卫星信号传播时间，然后用最后一步迭代中计算出的正规矩阵和卫星信号传播时间求解速度．

The mathematical models of GPS positioning and velocity measurement are given.Then the iterative algorithm for GPS positioning and velocity measurement under normal condition is discussed based on Gauss Newton method and the solution under the condition that there are only three visible satellites of G DOP is too large is given.Finally,a complete iteration algorithm for GPS positioning and velocity measurement is obtained.This algorithm consists of two parts.In first part,the positioning solution is obtained iteratively and the satellite signal propagation time is renewed as the positioning solution is renewed in each iteration.In second part,the velocity is obtained by using the satellite signal propagation time and the normal matrix obtained in last iteration in the first part.