To address the potential issues of global navigation satellite systems(GNSS),such as single-ness of frequency,low landing power,susceptibility to electromagnetic interference,and limited coverage in some areas,leading to navigation system performance degradation or failure,an aircraft dynamic inte-grated navigation method is proposed based on Starlink opportunity signals and inertial navigation systems(INS).Firstly,the Starlink signal structure is analyzed and an observation model for instantaneous Doppler positioning of downlink opportunity signals from Starlink satellite constellations is established.Then,a fast maximum likelihood Doppler frequency estimation method based on frequency subdivision is designed.Subsequently,a combined navigation model for Starlink opportunity signals/INS based on the extended Kalman filter(EKF)is established and experiments and analyses of the navigation method are conducted.The results indicate that the proposed method can provide high precision navigation for extended and continuous periods of flight.In dynamic flight scenarios,this method achieves an average three-dimensional navigation positioning accuracy of better than 25 meters and an average velocity estimation accuracy of better than 0.1 meters per second.This accuracy im-provement is 1 to 2 orders of magnitude better than the inertial navigation under the same observa-tion time,significantly enhancing navigation accuracy for aircraft.Thus,the proposed method can offer a methodological and technical support for strategic navigation.
Starlink opportunity signalsInertial navigationIntegrated navigationFast maximum likelihood estimationExtended Kalman filter
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