CN114114346A - Satellite receiver positioning method and device suitable for Beidou satellite navigation system - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses a satellite receiver positioning method and device suitable for a Beidou satellite navigation system. Before positioning calculation, satellite observation quantities in an available satellite list are further screened and sorted by using a satellite pseudo-range residual satellite selection method, a group with the minimum residual error is extracted to form a high-precision available satellite list of satellites, and the satellites in the list participate in positioning calculation again, so that the positioning error is effectively improved. The method has the advantages of strong ground operability, simple algorithm application, no complex or huge calculation formula, and easy engineering realization.
Description
Technical Field
The invention belongs to the field of satellite navigation information processing, and relates to a high-precision positioning method of a satellite receiver suitable for a Beidou satellite navigation system.
Background
The Beidou third-generation satellite navigation system is built and put into use, the second-generation Beidou satellite is not yet in service life, and the number of usable Beidou satellites received in China and surrounding areas is large enough to meet the requirement of the number of satellites needed by navigation positioning calculation. Before the positioning solution, a selection of the satellites to be involved in the positioning solution is usually made to obtain a list of available satellites. The accuracy of the observed quantity of each satellite in the available satellite list determines the accuracy of positioning, and more factors influence the accuracy of the observed quantity of the satellite.
The factors influencing the positioning accuracy mainly include three parts of satellite-side errors, propagation link errors and receiver-side errors. The traditional method for improving the positioning accuracy is to respectively correct or improve error models aiming at the three partial errors so as to improve the accuracy of the observed quantity of the satellite participating in positioning calculation. For satellite-side errors, precise ephemeris or satellite perturbation compensation correction can be adopted; for the propagation link error, the ionosphere and troposphere model with high precision can be adopted for correction; for receiver-end errors, a method for optimizing the design of a tracking loop or a method for compensating a model can be adopted for correction. The traditional method can correct most errors, the accuracy of the satellite observation quantity participating in positioning calculation is improved to a certain extent, and the accuracy of the satellite observation quantity still has residual errors which are difficult to eliminate due to the influence of factors such as system errors of an error compensation model and limitations of a tracking algorithm. The residual error is usually not too large, but will inevitably have random variation or even jump along with the variation of uncontrollable factors such as the working condition of the satellite terminal, the signal interference of the propagation link, the working condition of the satellite receiver and the like. If no measures are taken, the uncontrollable random variation or jump error will be spread into the positioning result of the receiver, thereby having a great influence on the positioning accuracy to a certain extent.
Considering that the errors of the satellite end, the propagation link and the receiver end are summarized and reflected in the observed quantity error of each satellite, and the number of the Beidou satellites which can be received currently is large. Therefore, under the condition that the number of the received Beidou satellites is enough, before positioning calculation, a high-precision positioning method of the satellite receiver can be designed, satellite observation quantities in the available satellite list are further screened, and the high-precision available satellite list is extracted, so that the satellites in the list participate in positioning calculation again.
Disclosure of Invention
The invention aims to provide a high-precision positioning method and device of a satellite receiver, which are suitable for a Beidou satellite navigation system.
The invention provides a satellite receiver positioning method suitable for a Beidou satellite navigation system, which adopts the technical scheme that the method comprises the following steps:
step 1, pre-resolving to obtain pseudo-range residuals of all satellites based on a primarily selected available satellite list;
step 2, sequencing the pseudo-range residual errors obtained in the step 1 to obtain an optimal pseudo-range residual error combination to form a high-precision available satellite list;
and 3, performing secondary calculation based on the available satellite list of the satellite obtained in the step 2 to obtain a positioning calculation result.
Further, the step 1 performs primary selection of available satellites on the received satellite observation quantity, performs least square pre-calculation by using a primarily selected available satellite list, obtains an estimated value of a current position through the pre-calculation, and calculates by using the estimated value and a pseudo-range observation value to obtain each satellite pseudo-range residual error.
Further, the pseudo-range residuals of m satellites obtained by pre-solution are sorted from large to small in the step 2, a root mean square value of a residual is calculated at every n points from front to back, so that (m-n +1) residual root mean square values are obtained, and a combination with the minimum residual root mean square value is found out, so that the high-precision satellite available satellite list is obtained.
Furthermore, when the available satellites are initially selected, the number of the available satellites is adjusted as required according to the performance of the processor platform and the information of satellite distribution, satellite azimuth and altitude angle.
Furthermore, the satellite selection is carried out again after the high-precision available satellite list is obtained, and the satellite selection changes the number of satellites participating in secondary positioning calculation.
According to another aspect of the invention, the invention provides a satellite receiver positioning device suitable for a Beidou satellite navigation system, which adopts the following technical scheme:
the satellite receiver positioning device comprises a pre-resolving module, a pseudo-range residual error sequencing module and a secondary resolving module,
the pre-resolving module pre-resolves and obtains each satellite pseudo-range residual error based on the initially selected available satellite list;
the pseudo-range residual sorting module sorts the pseudo-range residual obtained by the pre-resolving module to obtain an optimal pseudo-range residual combination to form a high-precision available satellite list;
and the secondary calculation module performs secondary calculation on the basis of the satellite available star list acquired by the pseudo-range residual sorting module to obtain a positioning calculation result.
Further, the pre-solution module performs primary selection of available satellites on the received satellite observation quantity, performs least square pre-solution by using a primarily selected available satellite list, obtains an estimated value of the current position through the pre-solution, and calculates to obtain pseudo-range residuals of each satellite by using the estimated value and the pseudo-range observation values.
Further, the pseudorange residual sorting module sorts the pseudorange residuals of m satellites obtained by the pre-resolving module from large to small, and calculates a root mean square value of a residual at every n points from front to back, so as to obtain (m-n +1) residual root mean square values, and finds out a combination with the minimum residual root mean square value, thereby obtaining a high-precision satellite available satellite list.
Furthermore, when the available satellites are initially selected, the pre-solution module adjusts the number of the available satellites according to the performance of the processor platform, the satellite distribution, the satellite azimuth and the altitude angle information and according to needs.
Furthermore, the satellite selection is carried out again after the high-precision available satellite list is obtained, and the satellite selection changes the number of satellites participating in secondary positioning calculation.
The method has the advantages that the characteristics of coexistence, receptability and large number of selectable satellites of China and peripheral region Beidou No. three and Beidou second-generation satellites are utilized, and the pseudo-range residual error sorting method is utilized to screen the satellite observation quantity precision. After the satellite-side error, the propagation link error and the receiver-side error are corrected, the method indirectly eliminates the satellite combination with large residual error, selects the optimal combination for positioning calculation, and can improve the positioning accuracy to a certain extent.
The number of satellites participating in pre-solution and the performance of the processing platform directly determine the pre-solution processing time. When in pre-solution, the invention can freely select the number of the pre-solution satellites according to the performance of the processing platform and the requirement of the positioning frequency, namely the pre-solution processing time is controllable. After a high-precision available satellite list is obtained through pre-resolving, on one hand, the optimal combination of the satellite observation quantity precision is obtained, and on the other hand, the number of satellites which can participate in positioning after screening is reduced. Therefore, the resolving time and resolving effect (positioning accuracy) of secondary positioning resolving by using the screened satellite are improved to a certain extent.
The method comprises the steps of firstly obtaining pseudo-range residual errors of all satellites by using a pre-resolving mode, obtaining a high-precision available satellite list after sorting the pseudo-range residual errors, and then performing secondary positioning resolving. The method has the advantages of strong ground operability, simple algorithm application, no complex or huge calculation formula, and capability of ensuring the realization of algorithm programming on a DSP or FPGA hardware platform in real time and calculation amount, namely, the method is easy to realize in engineering.
Drawings
Fig. 1 shows a schematic diagram of a positioning method of a satellite receiver suitable for a beidou satellite navigation system according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating a method for grouping satellite pseudorange residuals according to an embodiment of the invention;
fig. 3 is a block diagram illustrating a flow of pseudorange residual sorting and satellite selection according to an embodiment of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
According to the invention, by utilizing the characteristics that China and surrounding area Beidou No. three and Beidou second-generation satellites coexist and the number of receivable satellites is large, after the satellite-side error, the propagation link error and the receiver-side error are corrected, the residual error is reflected in the pseudo-range residual error. Before positioning calculation, satellite observation quantities in an available satellite list are further screened and sorted by using a satellite pseudo-range residual satellite selection method, a group with the minimum residual error is extracted to form a high-precision available satellite list of satellites, and the satellites in the list participate in positioning calculation again, so that the positioning error is effectively improved.
Fig. 1 shows the principle of a high-precision positioning method of a satellite receiver suitable for a Beidou satellite navigation system. The technical scheme includes that a secondary resolving mode is adopted, namely pre-resolving and positioning resolving are sequentially executed, the pre-resolving is to perform primary resolving on received satellites, pseudo-range residual errors of all the satellites are calculated by means of pre-resolving results to be sequenced, after grouping is performed, optimal pseudo-range residual error combinations are obtained by setting a preference standard, a high-precision available satellite list is formed, the satellites in the list participate in positioning resolving secondarily, and the results of the secondary positioning resolving are used as final positioning resolving results.
As an embodiment of the invention, the provided satellite receiver positioning method suitable for the Beidou satellite navigation system comprises the following steps:
step 1, obtaining pseudo-range residual errors of each satellite through pre-solution
And primarily selecting available satellites for the received satellite observed quantity, performing least square pre-calculation by using a primarily selected available satellite list, obtaining an estimated value of the current position through the pre-calculation, and calculating by using the estimated value and a pseudo-range observed value to obtain pseudo-range residuals of each satellite.
The linearized Beidou satellite pseudorange measurement equation is shown as the formula (1):
z＝Hx+ε (1)
in the formula: x is a 4 x 1 vector, the first three elements are the position offsets of the receiver in the X, Y, Z three directions, respectively, and the fourth element is the clock offset of the receiver. z is a K x 1 vector whose elements are the difference between the pseudorange measurements and the range predicted based on the initial position. The value K is the number of satellites involved in the positioning. H is a K4 linear coefficient matrix between x and z. ε is the K1 measurement error vector, which may contain both the random (ranging random jitter) and deterministic (bias) terms.
Step 1.1, observed quantity extraction and available star primary selection
The observation quantity extraction is to extract a satellite original pseudo range, a carrier phase observation value, a Doppler observation value, a carrier smooth pseudo range calculation, a satellite position speed calculation and the like after satellite signals are processed by a radio frequency front end and signals, and all data are prepared for navigation positioning resolving.
After the satellite position and the satellite speed are calculated, satellite selection is carried out according to the number of the satellites, the size of the geometric accuracy factor, ephemeris and the information of the satellite azimuth and altitude angle, and an available satellite list is formed.
Because the number of the selected satellites in China and surrounding areas is large, and the pre-solution processing time is increased along with the increase of the number of the satellites participating in the solution, the number of the satellites participating in the pre-solution can be flexibly set according to the satellite distribution, the satellite azimuth and the altitude angle information in the actual application of a use scene with the requirement of the pre-solution processing time.
Step 1.2, least squares method Pre-solution
Taking the pseudo-range measurement K (i.e. the number of satellites participating in positioning) as an example, the least square estimation of x can be obtained by using the least square estimation formula (2)
Step 1.3, satellite pseudo-range residual vector calculation
Calculating to obtain a least squares estimate
Then, it is substituted into the right side of equation (3) to obtain an estimate
Then hold
The difference between them compared to the pseudorange measurement z is called the pseudorange residual vector r. Mathematically expressed as:
let S ≡ IK-H(HTH)-1HTIn the formula: i isKIs a K × K identity matrix. Since the measurement error term epsilon is unknown, the pseudorange residual vectors r are all calculated using the equation r-Sz when used in practice.
Step 2, obtaining a high-precision satellite available star list by pseudo-range residual sorting
As shown in fig. 2 and 3, the pseudorange residual ordering method orders pseudorange residuals of m satellites obtained in a pre-solution stage from large to small, calculates a root mean square value of a residual at every n points from front to back, obtains (m-n +1) residual root mean square values, and finds out a combination with the minimum residual root mean square value, thereby obtaining a high-precision satellite available satellite list.
Step 2.1, pseudorange residual ordering
Assuming that m satellites are received, the pseudo-range residual error vector of each Beidou satellite is r ═ r1,r2,r3,...,rm]The element r of each residual vector1,r2,r3,...,rmSorting from large to small.
Step 2.2, pseudo-range residual grouping
After the pseudo-range residuals of m satellites are sorted from large to small, the pseudo-range residuals of each n satellites (n is less than or equal to m) are grouped into (m-n +1) groups. The grouping method is shown in fig. 2.
Step 2.3, calculation of pseudo-range residual error optimal group
For the (m-n +1) groups, the root mean square value delta of a residual error is calculated for each group from front to back1，δ2，δ3，....，δm+n-1. And finding out the group with the minimum residual root mean square value, and acquiring a high-precision satellite available star list. Residual root mean square valueThe calculation method of (2) is as follows:
first, let r be a pseudo-range residual vector of a certain group after grouping, and calculate a root mean square value δ of the pseudo-range residual, as shown in equation (5).
In practice, the standard deviation σ of the pseudorange residuals may be used instead of the root mean square value δ.
Step 3, obtaining a positioning calculation result by secondary calculation
After the available satellite list of the high-precision satellite is obtained, positioning calculation can be carried out by using a least square method, and a result after positioning calculation can be output as a final positioning result.
In practical application, due to the fact that two positioning calculation tasks are involved, if the positioning frequency and the limitation of a processor platform are carried out, the preliminary satellite selection strategy for pre-calculation of available satellites can be properly adjusted, satellite selection can be carried out again after a high-precision available satellite list is obtained, and the satellite selection can consider to change the number of satellites participating in secondary positioning calculation.
According to another aspect of the invention, the invention provides a satellite receiver positioning device suitable for a Beidou satellite navigation system, which comprises a pre-resolving module, a pseudo-range residual error sequencing module and a secondary resolving module.
The pre-solution module is used for performing available satellite primary selection on the received satellite observation values, performing least square pre-solution by using a primarily selected available satellite list, obtaining an estimated value of the current position through the pre-solution, and calculating to obtain pseudo-range residuals of each satellite by using the estimated value and the pseudo-range observation values. And when the available satellite is initially selected, adjusting the available satellite initial selection strategy as required according to the performance of the processor platform so as to reduce the processing time of the pre-solution stage.
The pseudo-range residual sorting module sorts pseudo-range residuals of m satellites obtained in a pre-solution stage from large to small, calculates a root mean square value of the residual at every n points from front to back, obtains (m-n +1) residual root mean square values, and finds out a combination with the minimum residual root mean square value, so as to obtain a high-precision satellite available satellite list.
And the secondary calculation module performs positioning calculation by using a high-precision available satellite list acquired at the pseudo-range residual sorting stage, so as to finally obtain a positioning calculation result.
Furthermore, when the available satellites are initially selected, the pre-solution module adjusts the number of the available satellites according to the performance of the processor platform, the satellite distribution, the satellite azimuth and the altitude angle information and according to needs.
Furthermore, the satellite selection is carried out again after the high-precision available satellite list is obtained, and the satellite selection changes the number of satellites participating in secondary positioning calculation.
The embodiment of the satellite receiver positioning device suitable for the beidou satellite navigation system provided by the invention can be specifically used for executing the processing flow of the embodiment of the satellite receiver positioning method suitable for the beidou satellite navigation system in the embodiment, the functions of the processing flow are not repeated, and the detailed description of the embodiment of the satellite receiver positioning method suitable for the beidou satellite navigation system can be referred to.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A satellite receiver positioning method suitable for a Beidou satellite navigation system is characterized by comprising the following steps:
step 1, pre-resolving to obtain pseudo-range residuals of all satellites based on a primarily selected available satellite list;
step 2, sequencing the pseudo-range residual errors obtained in the step 1 to obtain an optimal pseudo-range residual error combination to form a high-precision available satellite list;
and 3, performing secondary calculation based on the available satellite list of the satellite obtained in the step 2 to obtain a positioning calculation result.
2. The satellite receiver positioning method suitable for the beidou satellite navigation system, as recited in claim 1, wherein step 1 performs initial selection of available satellites on the received satellite observations, performs least square pre-solution using an initially selected available satellite list, obtains an estimated value of a current position through pre-solution, and obtains pseudorange residuals of each satellite by calculation using the estimated value and the pseudorange observations.
3. The satellite receiver positioning method applicable to the Beidou satellite navigation system, according to claim 1, is characterized in that the pseudo-range residuals of m satellites obtained by pre-solution in the step 2 are sorted from large to small, the root mean square value of one residual is calculated at every n points from front to back, then (m-n +1) residual root mean square values are obtained, and the combination with the minimum residual root mean square value is found out, so that the high-precision satellite available satellite list is obtained.
4. The satellite receiver positioning method suitable for the Beidou satellite navigation system according to claim 1, wherein in the initial selection of the available satellites, the number of the initial selection of the available satellites is adjusted as required according to the performance of the processor platform and according to satellite distribution, satellite azimuth and altitude angle information.
5. The satellite receiver positioning method suitable for the Beidou satellite navigation system according to claim 1, wherein satellite selection is performed again after a high-precision available satellite list is obtained, and the satellite selection changes the number of satellites participating in secondary positioning calculation.
6. A satellite receiver positioning device suitable for a Beidou satellite navigation system is characterized by comprising a pre-calculation module, a pseudo-range residual error sequencing module and a secondary calculation module,
the pre-resolving module pre-resolves and obtains each satellite pseudo-range residual error based on the initially selected available satellite list;
the pseudo-range residual sorting module sorts the pseudo-range residual obtained by the pre-resolving module to obtain an optimal pseudo-range residual combination to form a high-precision available satellite list;
and the secondary calculation module performs secondary calculation on the basis of the satellite available star list acquired by the pseudo-range residual sorting module to obtain a positioning calculation result.
7. The satellite receiver positioning device suitable for the beidou satellite navigation system of claim 6, wherein the pre-calculation module performs initial selection of available satellites on the received satellite observation, performs least square pre-calculation by using an initially selected available satellite list, obtains an estimated value of a current position through the pre-calculation, and calculates each satellite pseudo-range residual by using the estimated value and the pseudo-range observation value.
8. The satellite receiver positioning device applicable to the Beidou satellite navigation system according to claim 6, wherein the pseudorange residual sorting module sorts pseudorange residuals of m satellites obtained by the pre-resolving module from large to small, a root mean square value of a residual is calculated at every n points from front to back, then m-n +1 residual root mean square values are obtained, and a combination with the minimum residual root mean square value is found out, so that the high-precision satellite available satellite list is obtained.
9. The satellite receiver positioning device suitable for the Beidou satellite navigation system according to claim 6, wherein the pre-resolving module adjusts the number of available satellite candidates as required according to the performance of the processor platform, the satellite distribution, the satellite azimuth and the altitude angle information when the available satellites are initially selected.
10. The satellite receiver positioning device applicable to the Beidou satellite navigation system according to claim 6, wherein satellite selection is performed again after a high-precision available satellite list is obtained, and the number of satellites participating in secondary positioning calculation is changed.
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