Doppler frequency shift is the most important observation data of GPS receiver,which has the characteris-tics of high precision,real-time and no influence on the cycle slip. A real-time acquisition method of carrier velocity and acceleration is developed around Doppler observations. Because of the timeliness and accuracy of the velocity and acceleration of the satellite is the key to restrict the velocity and acceleration of the carrier based on the Doppler method,this paper deducts the real-time velocity and acceleration calculation formula based on broadcast ephemeris. The carrier velocity and acceleration model are established based on the GPS Doppler with broadcast ephemeris. Static experiment and dynamic experiment are carried out and the experimental results show that the carrier velocity and acceleration algorithm based on GPS Doppler with broadcast ephemeris can meet the precision requirement for vehicle navigation.%多普勒频移是GPS接收机的重要观测数据且具有高精度、实时性和不受周跳影响等特点,围绕多普勒观测值开展载体速度和加速度的实时获取方法研究.由于卫星速度和加速度获取的时效性和准确性是制约多普勒计算载体速度和加速度的关键,对广播星历实时计算卫星速度和加速度原理方程进行推导;建立基于广播星历的GPS多普勒计算载体速度和加速度模型后,分别开展静态和车载动态实验,结果表明:基于广播星历的GPS多普勒计算载体速度和加速度算法可满足车载导航精度要求.
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