Doppler observation value processing method for improving navigation speed measurement performance

The invention provides a Doppler observation value processing method for improving the navigation speed measurement performance, and the method comprises the steps: collecting original observation data needed by navigation speed measurement when a receiver receives a satellite navigation signal and is in a locked tracking state; carrying out two-way Doppler adaptive joint processing on the collected original observation data; and the receiver navigation resolving module combines the Doppler output by adaptive joint processing of not less than four navigation satellites to execute navigation speed measurement resolving processing to obtain the receiver speed. According to the method, double-path Doppler combined processing is adopted, one path of Doppler processing is used for reducing Doppler jitter in a dynamic stable state, and the other path of Doppler processing is used for improving dynamic adaptability and reducing Doppler transient response errors caused by dynamic model change; through double-channel