GPS/Pseudolites technology based on EMD-wavelet in the complex field conditions of mine

To increase the number and improve the geometric condition of visual satellites of GPS in complex environment of mine areas, GPS and pseudolite (PLs) positioning technologies will be integrated in this paper. Integration of GPS/Pseudolites(PLs) positioning technology can be applied to increase the number of visible satellites, strengthen the intensity of the geometry condition of the satellites, and provide an effective solution for precision measurement in the mine. However, the un-modeled systematic errors are still the main restrictive factors for high precision baseline solution. The Empirical Mode Decomposition (EMD)-Wavelet model was proposed for analysing non-linear time series. The EMD decomposes the time series to high-frequency and low-frequency part with the standards of the scale selection for the systematic errors elimination which is given in terms of the mean of the accumulated standardized modes, and the tendency of high-frequency part is extracted by Wavelet. Then low-frequency part and the tendency of high-frequency are reconstructed based on EMD theory and the systematic errors mitigation model is demonstrated as well. Thereafter, the scheme of the GPS/PLs baseline solution based on the EMD-Wavelet is suggested. The experiment shows that the proposed scheme dramatically improves the reliability of ambiguity resolution and the precision of baseline vector after systematic error eliminated.