Integrated navigation method based on pseudo-range/pseudo-range rate/dual-differenced carrier phase

In order to improve the accuracy of the integrated navigation system, this paper proposes an integrated navigation method based on pseudo-range/pseudo-range rate/dual-differenced carrier phase. By constructing dual-differenced carrier phase observation, some errors in the integrated navigation are eliminated, and the integer ambiguity is avoided. And in order to avoid the error accumulation after combination, introducing the pseudo-range and pseudo-range rate information, and a new filter is designed. The filter can play the advantages of high precision of the carrier phase and the superiority of absolute information contained in pseudo-range. Finally, the integrated navigation test is conducted with the GPS test data and the inertial navigation data from simulation. The experiment compared the pseudo-range combination, dual-differenced carrier phase combination and other common integrated navigation methods. The results show that the integrated navigation method in this paper is the best.