Robust Positioning of Moving Objects on Analytical Trajectories Using Satellite Navigation Measurements

A new method of high-precision positioning of mobile objects moving along program trajectories is proposed based on processing of satellite navigation measurements using robust filtering algorithms. The method is based both on the possibility of approximating (in particular, using electronic maps) the program trajectory of an object with a set of trajectory intervals with known analytical dependencies of navigation parameters and on the use of robust stochastic filtering methods that take into account the characteristic dynamics of the object and the uncertain nature of the type of interference distributions of Doppler and code satellite measurements. Electronic map information providing high accuracy of trajectory binding is integrated with algorithms of robust nonlinear filtering of satellite measurements that are optimal by the criterion of minimum nonlinear function of the measurement residual determined by the class of interference distributions of Doppler and code measurements. This makes it possible to significantly reduce computing costs while significantly improving the accuracy of positioning an object. The effectiveness of the proposed method is illustrated by a numerical example.