当载体具有高阶动态时,基于载波多普勒平滑伪距的解算误差扩大,且载体轨迹小波降噪处理结果会发生畸变.针对这些问题,提出了一种新的基于小波降噪载体位置平滑算法.算法对基于伪码测距和载波多普勒平滑伪距的解算结果进行差分,并根据差分值的频谱特征,选择合适的尺度进行小波降噪处理后,与基于载波多普勒平滑伪距的解算结果求和得到轨迹平滑结果.仿真结果表明,该算法在载体最大加加速度为50 m/s3的条件下,定位均值偏差小于0.04m,标准差小于1.3m.%When user jerk increases, the estimation errors of both carrier Doppler smoothed pseudoranges based positioning and wavelet de-noising applied directly to track smoothing will become larger. A novel track smoothing method based on wavelet de-noising is proposed in this paper to solve these problems. Differential of the position estimations based on code generated pseudoranges and carrier Doppler smoothed pseudoranges is calculated. After wavelet de-noising of the differential, the sum of the result and the carrier Doppler smoothed pseudoranges based positioning is used as the smoothing result. Simulation result shows that estimation bias of the proposed method is less than 0.04 m and the standard deviation is less than 1.3 m when the user maximum jerk is 50m/s3.
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