Integrated navigation system of three-star passive Beidou/SINS based on pseudo-range difference

Since the Beidou is in the orbit far from the earth, the error of the pseudo-range of the Beidou receiver is large enough to affect the performance of passive Beidou three-star/SINS system. Considering the complexity of Beidou pseudo-range error model and the precision of the error estimation model in Kalman filtering, the method of pseudo-range difference on a single receiver was presented to reduce the measurement error. The model of three-star/SINS integrated navigation system based on the pseudo-range difference was built based on the theory analysis. The field experiment shows that this algorithm improves the localization precision of the integrated navigation system and simplifies the filtering parameter.