CN110174691B - A positioning device, method and computer-readable storage medium - Google Patents

Abstract

The application provides a positioning device, a method and a computer readable storage medium, which relate to the technical field of positioning, and the positioning device is composed of a communication unit, a first GNSS chip and a micro control unit, wherein the micro control unit obtains satellite data monitored by a base station and the first GNSS chip respectively in the k epoch through the communication unit, and based on the satellite data monitored by the base station and the first GNSS chip respectively, a floating point positioning solution of a positioning coordinate of the first GNSS chip is obtained, ambiguity in addition, the ambiguity in the floating point positioning solution is fixed, after an integer solution corresponding to the ambiguity is obtained, the positioning coordinate of the first GNSS chip is obtained by utilizing the floating point positioning solution and the obtained integer solution through calculation.

Description

A positioning device, method and computer-readable storage medium

technical field

The present application relates to the field of positioning technology, and in particular, to a positioning device, a method, and a computer-readable storage medium.

Background technique

At present, in some vehicle terminals, agricultural machinery, or some application scenarios of carrier position and attitude detection, high-precision boards are generally used for positioning or orientation; and when high-precision boards are working, they need to provide multi-system and multi-frequency observations. and related qualitative methods of differential localization.

However, due to the high price and high power consumption of high-precision boards, the cost of using high-precision boards for positioning and orientation is relatively high.

SUMMARY OF THE INVENTION

The purpose of the present application is to provide a positioning device, method and computer-readable storage medium, which can reduce the hardware cost of positioning.

In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:

In a first aspect, an embodiment of the present application provides a positioning method, which is applied to a positioning device, where the positioning device includes a micro-control unit, and a communication unit electrically connected to the micro-control unit, a first global satellite positioning and navigation system ( Global Navigation Satellite System, GNSS) chip; the method includes:

The micro-control unit obtains, through the communication unit, the satellite data monitored by the base station at the k-th epoch, and the satellite data monitored by the first GNSS chip at the k-th epoch, wherein the satellite data monitored by the base station includes: Pseudorange and carrier phase, the satellite data monitored by the first GNSS chip includes pseudorange and carrier phase;

The micro-control unit calculates and obtains the pseudorange double difference and the carrier phase double difference according to the pseudorange and carrier phase corresponding to the base station, and the pseudorange and the carrier phase monitored by the first GNSS chip;

The micro-control unit processes the pseudorange double difference and the carrier phase double difference to obtain a floating-point positioning solution of the first GNSS chip;

The micro-control unit fixes the ambiguity in the floating-point positioning solution to obtain an integer solution corresponding to the ambiguity;

The micro-control unit calculates and obtains the positioning coordinates of the first GNSS chip according to the floating-point positioning solution and the integer solution corresponding to the ambiguity.

In a second aspect, an embodiment of the present application provides a positioning device, including a micro-control unit, a communication unit and a first GNSS chip electrically connected to the micro-control unit, respectively;

The micro-control unit is configured to obtain, through the communication unit, the satellite data monitored by the base station at the kth epoch, and the satellite data monitored by the first GNSS chip at the kth epoch, wherein the data monitored by the base station are: The satellite data includes pseudorange and carrier phase, and the satellite data monitored by the first GNSS chip includes pseudorange and carrier phase;

The micro-control unit is further configured to, according to the pseudorange and carrier phase corresponding to the base station, and the pseudorange and carrier phase monitored by the first GNSS chip, calculate and obtain the pseudorange double difference and the carrier phase double difference respectively;

The micro-control unit is further configured to process the pseudorange double difference and the carrier phase double difference to obtain a floating-point positioning solution of the first GNSS chip;

The micro-control unit is further configured to fix the ambiguity in the floating-point positioning solution to obtain an integer solution corresponding to the ambiguity;

The micro-control unit is further configured to calculate and obtain the positioning coordinates of the first GNSS chip according to the floating-point positioning solution and the integer solution corresponding to the ambiguity.

In a third aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the foregoing positioning method.

A positioning device, method, and computer-readable storage medium provided by the embodiments of the present application adopt a positioning device composed of a communication unit, a first GNSS chip, and a micro-control unit, and the micro-control unit acquires the base station at the k-th epoch through the communication unit and the satellite data monitored by the first GNSS chip, and based on the satellite data monitored by the base station and the first GNSS chip, the floating-point positioning solution of the positioning coordinates of the first GNSS chip is obtained, and the ambiguity in the floating-point positioning solution is calculated. Fixed, after the integer solution corresponding to the ambiguity is obtained, the floating-point positioning solution and the obtained integer solution are used to calculate the positioning coordinates of the first GNSS chip. Compared with the prior art, the positioning is no longer dependent on the high-precision board. , which can reduce the hardware cost of positioning.

In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the preferred embodiments are exemplified below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope. For those skilled in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a positioning device provided by an embodiment of the present application;

FIG. 2 is a schematic flowchart of a positioning method provided by an embodiment of the present application;

FIG. 3 is another schematic flowchart of a positioning method provided by an embodiment of the present application;

Fig. 4 is a kind of schematic flow chart of the sub-step of S204 in Fig. 3;

FIG. 5 is still another schematic flowchart of a positioning method provided by an embodiment of the present application;

FIG. 6 is another schematic structural diagram of a positioning device provided by an embodiment of the present application;

FIG. 7 is still another schematic flowchart of a positioning method provided by an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

With the development of IoT technology, more and more devices need to be positioned or oriented. However, as mentioned above, in the current application scenarios such as vehicle-mounted terminals, agricultural machinery, or some carrier position and attitude detection, high-precision boards are generally used to position and orient the equipment; Large power consumption, resulting in high cost of setting positioning.

Based on the above defects, a possible implementation manner provided by the embodiments of the present application is as follows: a positioning device composed of a GMS chip, a first GNSS chip and a micro-control unit is used, and the micro-control unit obtains the base station and the base station at the k-th epoch through the communication unit. The satellite data monitored by the first GNSS chip, and based on the satellite data monitored by the base station and the first GNSS chip, the floating-point positioning solution of the positioning coordinates of the first GNSS chip is obtained, and the ambiguity in the floating-point positioning solution is fixed. , and after obtaining the integer solution corresponding to the ambiguity, the floating-point positioning solution and the obtained integer solution are used to calculate the positioning coordinates of the first GNSS chip.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a positioning device provided by an embodiment of the present application. The positioning device includes a Microcontroller Unit (MCU) and a communication unit electrically connected to the microcontroller unit respectively. and the first GNSS chip.

Wherein, in order to reduce the cost of the positioning device, as a possible implementation manner, the first GNSS chip can use a single-frequency chip; and as shown in FIG. )chip.

In addition, it should be noted that in some other possible implementations of the embodiments of the present application, the above-mentioned communication unit may also adopt other devices other than GSM chips, such as CDMA (Code Division Multiple Access, Code Division Multiple Access) modules, etc. , as long as the micro-control unit can obtain the satellite monitored by the base station at the k-th epoch through the communication unit.

Therefore, based on the positioning device shown in FIG. 1 , please refer to FIG. 2 . FIG. 2 is a schematic flowchart of a positioning method provided by an embodiment of the present application. When positioning, include the following steps:

S201, the micro-control unit obtains, through the GMS chip, the satellite data monitored by the base station at the kth epoch, and the satellite data monitored by the first GNSS chip at the kth epoch;

S203, the micro-control unit calculates and obtains the pseudorange double difference and the carrier phase double difference according to the pseudorange and carrier phase corresponding to the base station, and the pseudorange and the carrier phase monitored by the first GNSS chip;

S205, the micro-control unit processes the pseudorange double difference and the carrier phase double difference to obtain the floating-point positioning solution of the first GNSS chip;

S207, the micro-control unit fixes the ambiguity in the floating-point positioning solution, and obtains an integer solution corresponding to the ambiguity;

S209, the micro-control unit calculates and obtains the positioning coordinates of the first GNSS chip according to the floating-point positioning solution and the integer solution corresponding to the ambiguity.

In the embodiment of the present application, the positioning device uses the first GNSS chip as the mobile station and the base station as the reference station, and receives satellite data of the base station through the communication unit, and settles the coordinates of the positioning of the first GNSS chip, thereby realizing positioning.

It should be noted that the base station used in the embodiments of the present application may be a surveying and mapping base station built by a user, or a base station established by a surveying and mapping service provider.

Exemplarily, when the positioning device implements positioning, the micro-control unit may obtain satellite data monitored by the base station at the k-th epoch and satellite data monitored by the first GNSS chip at the k-th epoch through the communication unit; wherein, The satellite data monitored by the base station includes pseudorange, carrier phase, etc., and the satellite data monitored by the first GNSS chip includes pseudorange, carrier phase, etc.; in some other possible application scenarios of the embodiment of the present application, the satellite data monitored by the first GNSS chip It may also include navigation ephemeris and the like.

According to the satellite data monitored by the base station and the satellite data monitored by the first GNSS chip, the micro-control unit determines the common-view satellites of the two; If the satellite data monitored by the chip comes from satellites D, E, F, and G, the satellites viewed by the base station and the first GNSS chip are satellite D and satellite E.

And the micro-control unit selects a reference satellite from the common-view satellites of the base station and the first GNSS chip according to the set conditions; for example, in the above example, it is assumed that the micro-control unit takes the common-view satellite with the highest altitude angle as a reference. For satellites, if the altitude angle of satellite D is greater than that of satellite E, the microcontroller uses satellite D as the reference satellite; if the altitude angle of satellite E is greater than that of satellite D, the microcontroller uses satellite E as the reference satellite.

Therefore, the micro-control unit calculates and obtains the pseudorange double difference and the carrier phase double difference according to the selected common-view satellite and reference satellite, the pseudorange and carrier phase corresponding to the base station, and the pseudorange and carrier phase monitored by the first GNSS chip. Difference.

For example, in the above example in which the common-view satellite includes satellite D and satellite E, and satellite D is selected as the reference satellite, when calculating the pseudo-range double difference, first calculate the pseudo-distance of satellite D obtained by monitoring the base station and the first GNSS chip respectively. The difference between the distance and the pseudorange of the satellite E, respectively obtain the pseudorange corresponding to the base station and the pseudorange corresponding to the first GNSS chip, and then calculate the pseudorange corresponding to the base station and the first GNSS chip. The difference between the single difference and the two is obtained to obtain the pseudorange double difference.

Similarly, when calculating the carrier phase double difference, first calculate the difference between the carrier phase of the satellite D and the carrier phase of the satellite E, which are monitored by the base station and the first GNSS chip, respectively, and obtain the carrier phase single difference corresponding to the base station and The carrier phase single difference corresponding to the first GNSS chip is calculated, and then the difference between the carrier phase single difference corresponding to the base station and the carrier phase single difference corresponding to the first GNSS chip is calculated to obtain the carrier phase double difference.

Thus, the micro-control unit processes the pseudorange double difference and the carrier phase double difference according to the calculated pseudorange double difference and carrier phase double difference, thereby obtaining the floating-point positioning solution of the positioning coordinates of the first GNSS chip.

The floating-point positioning solution of the positioning coordinates of the first GNSS chip calculated according to S205 includes the real coordinates (x, y, z) of the first GNSS chip and the ambiguity; wherein, for the ambiguity in the floating-point positioning solution, micro- The control unit can fix the ambiguity in the floating-point positioning solution, so as to obtain an integer solution corresponding to the ambiguity; thus, according to the integer solution obtained by the ambiguity in the fixed floating-point positioning solution, the micro-control unit according to the floating-point positioning solution and the integer solution corresponding to the obtained ambiguity, and calculate the positioning coordinates of the first GNSS chip.

It can be seen that, based on the above design, a positioning method provided by the embodiment of the present application adopts a positioning device composed of a communication unit, a first GNSS chip and a micro-control unit. The satellite data monitored by a GNSS chip, and based on the satellite data monitored by the base station and the first GNSS chip, the floating-point positioning solution of the positioning coordinates of the first GNSS chip is obtained, and the ambiguity in the floating-point positioning solution is fixed, After obtaining the integer solution corresponding to the ambiguity, the floating-point positioning solution and the obtained integer solution are used to calculate the positioning coordinates of the first GNSS chip. Reduce positioning costs.

It should be noted that, assuming that the base station is station r and the first GNSS chip is station 1, the pseudorange double difference equations of the two satellites p and q at time t ₁ can be expressed as:

where P is the pseudorange observation value, f is the carrier frequency, c is the speed of light, ρ is the distance from the satellite to the station, V _ion is the ionospheric error, and V _trop is the tropospheric error.

In addition, the carrier phase double difference equation can be expressed as:

为载波相位观测值，N为载波相位模糊度。where:

is the carrier phase observation value, and N is the carrier phase ambiguity.

和载波相位双差

因此，上述公式(1)和公式(2)中的未知量仅有卫星到测站的距离ρ和载波相位模糊度N。Under the condition of short baseline, that is, when the first GNSS chip is used as station 1, and the distance between the first GNSS chip and the base station as station r is relatively close (for example, less than 10km), the above formula (1) and formula (2) two In the double difference equation, the influence of the current layer and the troposphere can be ignored; and as mentioned above, the pseudorange double difference at time t ₁ can be obtained according to the observed value through S203

and carrier phase double difference

Therefore, the unknowns in the above formulas (1) and (2) are only the distance ρ from the satellite to the station and the carrier phase ambiguity N.

In addition, optionally, when performing S205, based on the Kalman filtering algorithm, the micro-control unit uses the Kalman filtering algorithm to process the pseudorange double difference and the carrier phase double difference to obtain the floating point of the first GNSS chip. The process of locating the solution.

Wherein, as a possible implementation manner, in the embodiment of the present application, the system equation of Kalman filtering may be:

x、y、z分别表示第一GNSS芯片定位坐标的位置参数，

分别表示第一GNSS芯片的速度参数，

分别表示载波相位双差模糊度；where:

x, y, and z respectively represent the position parameters of the first GNSS chip positioning coordinates,

respectively represent the speed parameters of the first GNSS chip,

respectively represent the carrier phase double-difference ambiguity;

且

为卡尔曼滤波系统方程的状态转移矩阵，I_n表示n阶单位矩阵，ΔT表示历元的时间间隔；

and

is the state transition matrix of the Kalman filter system equation, In represents the _n -order unit matrix, and ΔT represents the time interval of the epoch;

且Γ_k-1为卡尔曼滤波系统方程的噪声系数矩阵；

And Γ _k-1 is the noise coefficient matrix of the Kalman filter system equation;

w _k-1 is the set process noise vector;

y_kP和

分别为伪距双差观测向量和载波相位双差观测向量；

y _kP and

are the pseudorange double-difference observation vector and the carrier phase double-difference observation vector, respectively;

H_k为卡尔曼滤波系统方程的测量系数矩阵，λ为载波波长，且有：

为伪距双差观测值；

H _k is the measurement coefficient matrix of the Kalman filter system equation, λ is the carrier wavelength, and has:

is the pseudorange double-difference observation;

为载波相位双差观测值；

is the carrier phase double difference observation value;

v _k is the observation noise.

Therefore, when Kalman filtering is performed in S205:

The resulting state predictions are:

表示k-1历元状态向量滤波值，

表示k历元状态向量预测值，

为k-1历元状态向量方差滤波值，

为k历元状态向量方差的预测值，Q_k-1为k-1历元的过程噪声。In the formula,

represents the k-1 epoch state vector filter value,

represents the k epoch state vector prediction value,

is the k-1 epoch state vector variance filter value,

is the predicted value of the variance of the state vector at epoch k, and Q _k-1 is the process noise at epoch k-1.

Additionally, the resulting measurements are updated to:

为k历元状态向量的滤波值，

为k历元状态向量方差的滤波值。where k _k is the gain matrix, R _k is the variance of the observation noise v _k ,

is the filtered value of the k-epoch state vector,

is the filtered value of the k-epoch state vector variance.

R_p表示伪距的测量方差阵，

表示载波相位观测值的测量方差阵，且有

k为伪距与载波相位的测量精度比例；且有：Among them, the above

R _p represents the measurement variance matrix of the pseudorange,

represents the measurement variance matrix of carrier phase observations, and has

k is the measurement accuracy ratio of pseudorange to carrier phase; and there are:

为参考站(基站)参考卫星非差观测值的方差，

为流动站(第一GNSS芯片)参考卫星非差观测值的方差，

为固定站(基站)第i颗卫星非差观测值的方差，

为流动站(第一GNSS芯片)第i颗卫星非差观测值的方差；另外，非差观测值的方差计算公式为：In the formula,

is the variance of the reference satellite non-difference observations for the reference station (base station),

is the variance of the non-differenced observations of the reference satellite for the rover (the first GNSS chip),

is the variance of the non-difference observations of the i-th satellite at the fixed station (base station),

is the variance of the non-difference observation value of the i-th satellite of the rover (the first GNSS chip); in addition, the variance calculation formula of the non-difference observation value is:

σ=a ² +b ² /(sin(el)) ² ,

In the formula, a and b are both set coefficients, and el is the altitude angle of the corresponding satellite.

In addition, optionally, when the above S207 is implemented, based on the LAMADA algorithm, the micro-control unit can fix the ambiguity in the floating-point positioning solution with the LAMBDA algorithm, and obtain an integer solution corresponding to the ambiguity.

Among them, the implementation process of using LAMADA algorithm to fix ambiguity can be simplified into two main steps: ambiguity decorrelation and ambiguity integer least squares discrete search. The principle is to reduce the search space of ambiguity through integer transformation and de-correlation, so as to improve the search efficiency.

且协因数阵为

It is assumed that the real solution of the ambiguity obtained by the above Kalman filtering algorithm is

and the cofactor matrix is

Optionally, as a possible implementation manner, in this embodiment of the present application, the objective function searched by the LAMBDA algorithm may be set as:

为浮点定位解中模糊度的实数解，

为浮点定位解中模糊度的实数解的协因数阵。In the formula, ^N∈Zn ,

is the real solution of the ambiguity in the floating-point positioning solution,

A matrix of cofactors for the real solution of the ambiguity in the floating-point positioning solution.

进行Cholesky分解后可得：where, the cofactor matrix for the real solution

After Cholesky decomposition, we can get:

where L is the lower triangular matrix and D is the diagonal matrix.

Compute the integer Gaussian transform and Z transform of the real solution:

Among them, Z is the integer transformation matrix, and z is the transformed ambiguity vector. After the integer Gaussian transformation, the integer combination that satisfies the following formula is solved:

z=(z ₁ ,z ₂ ,...,z _n ),

In the formula,

Then the J used to determine the ambiguity search space is solved as:

的整数。where z _nint is the closest

the integer.

Search the ellipsoid for the ambiguity combination z that minimizes the following quadratic form:

Using the above-mentioned LAMBDA algorithm to fix the ambiguity, the correlation between the ambiguity parameters is reduced, and the search space of ambiguity is reduced, thereby avoiding the introduction of a large number of wrong ambiguity candidate values into the calculation process, and reducing the ambiguity solution. The calculation amount of the calculation process is improved, and the efficiency of the ambiguity search is improved.

In some application scenarios, if a cycle slip occurs in the obtained carrier phase double difference, the positioning coordinates obtained by positioning the first GNSS chip may be inaccurate.

Therefore, optionally, as a possible implementation manner, please refer to FIG. 3 . FIG. 3 is another schematic flowchart of a positioning method provided by an embodiment of the present application. Above, before executing S205, the positioning method further includes the following steps:

S204, the micro-control unit performs cycle slip check on the carrier phase double difference; if the check passes, execute S205, if the check fails, execute S206, and execute S205 with the result of executing S206.

S206, the micro-control unit updates the carrier phase double difference.

In the embodiment of the present application, the cycle slip test is performed on the carrier phase double difference to determine that the positioning coordinates obtained by the positioning solution of the first GNSS chip are sufficiently accurate. Wherein, if the cycle-slip test is passed on the carrier phase double difference, it is determined that the positioning coordinates obtained by using the carrier phase double difference can meet the accuracy requirements, and S205 is directly executed at this time; otherwise, if the carrier phase double difference is cycled If the jump check fails, then the current carrier phase double difference cannot meet the accuracy requirements for obtaining the positioning coordinates. At this time, S206 is performed, the carrier phase double difference is updated, and S205 is performed with the updated carrier phase double difference, that is, S206 is executed. Using the updated carrier phase double difference combined with the pseudorange double difference for the Kalman filtering algorithm to solve, the floating-point positioning solution of the first GNSS chip is obtained.

Optionally, in order to implement S204, please refer to FIG. 4 , which is a schematic flowchart of the sub-steps of S204 in FIG. 3 , as a possible implementation manner, S204 may include the following sub-steps:

S204-1, the micro-control unit fits the carrier phase double-difference observations of multiple time series to obtain the fitted observations;

S204-2, the micro-control unit judges whether the difference between the fitted observation value and the carrier phase double difference reaches the carrier phase threshold; if so, the cycle slip test fails; if not, the cycle slip test passes.

可以采用多项式拟合的方式得到载波相位双差

随时间序列变化的拟合观测值，从而将载波相位双差

随时间序列变化的拟合观测值与实际观测的载波相位双差两者的差值与载波相位阈值进行比对，若拟合观测值与实际观测的载波相位双差两者的差值达到载波相位阈值，则确定周跳检验不通过；反之，若拟合观测值与实际观测的载波相位双差两者的差值未达到载波相位阈值，则确定周跳检验通过。In the embodiment of the present application, it is assumed that the carrier phase double differences of multiple time series are respectively:

The carrier phase double difference can be obtained by polynomial fitting

Fitted observations over time series, thus double differencing the carrier phase

The difference between the fitted observation value changing with the time series and the actual observed carrier phase double difference is compared with the carrier phase threshold. If the difference between the fitted observation value and the actual observed carrier phase double difference reaches the carrier phase If the phase threshold is satisfied, it is determined that the cycle slip test fails; on the contrary, if the difference between the fitted observation value and the actual observed carrier phase double difference does not reach the carrier phase threshold, it is determined that the cycle slip test passes.

On the other hand, as a possible implementation manner, when executing S206, the micro-control unit can update the carrier phase double difference according to the following formula:

为t_k历元时刻更新后的载波相位双差，f为卫星的载波频率，c为光速，

为t_k历元时刻的伪距双差。in,

is the updated carrier phase double difference at epoch t _k , f is the carrier frequency of the satellite, c is the speed of light,

is the pseudorange double difference at epoch t _k .

That is, for the carrier phase double difference at the time of occurrence of a cycle slip, it is beneficial to update the above formula, thereby eliminating the cycle slip occurring in the carrier phase double difference.

It is worth noting that the above is only for illustration, and a possible way to update the carrier phase double difference is proposed. In some other possible application scenarios of the embodiments of the present application, other methods can also be used to update the carrier phase double difference, such as using The moving average algorithm is used for filtering, or for the double difference of the carrier phase at the time of the cycle slip, the average value of the double difference of the carrier phase at the adjacent moment is replaced, etc., as long as the double difference of the carrier phase can be updated to avoid the occurrence of cycle slips.

It can be seen that, based on the above design, in a positioning method provided by the embodiment of the present application, cycle slip checking is performed on the carrier phase double difference to determine whether a cycle slip occurs in the carrier phase double difference, and a cycle slip occurs in the carrier phase double difference. When , the carrier phase double difference is updated to prevent the first GNSS chip positioning coordinates obtained by the solution from being affected by the cycle slip occurring in the carrier phase double difference.

In addition, in order to ensure the correctness of the fuzzy search of the LAMBDA algorithm, as a possible implementation manner, please refer to FIG. 5. FIG. 5 is another schematic flowchart of a positioning method provided by an embodiment of the present application. In FIG. 2 On the basis of the flow steps shown in FIG. 3, before executing S209, the positioning method further includes the following steps:

S208, the micro-control unit detects the integer solution corresponding to the ambiguity according to the Ratio detection algorithm; if the detection passes, execute S209; otherwise, if the monitoring fails, the micro-control unit discards the integer solution corresponding to the ambiguity.

In this embodiment of the present application, the micro-control unit may search the search space for two sets of ambiguity solutions N ₁ and N ₂ , and calculate respectively:

若

大于设定阈值时，则认为N₁对应的模糊度组合为较为精确的模糊度组合，此时确认检测通过，执行S209；反之，若

小于或等于该设定阈值，则认为检测不通过，此时则微控制单元丢弃该模糊度对应的整数解。and calculate the ratio of the two

like

When it is greater than the set threshold, it is considered that the ambiguity combination corresponding to N1 is _a relatively accurate ambiguity combination, and the detection is confirmed to pass at this time, and S209 is executed; otherwise, if

If it is less than or equal to the set threshold, it is considered that the detection fails, and at this time, the micro-control unit discards the integer solution corresponding to the ambiguity.

The above application scenarios are for positioning requirements, and in some other application scenarios, there may also be orientation requirements on the basis of positioning.

Therefore, in order to meet the orientation requirements, please refer to FIG. 6 , which is another schematic structural diagram of a positioning device provided by an embodiment of the present application. On the basis of FIG. 1 , the positioning device further includes a second GNSS chip , the second GNSS chip is also electrically connected with the micro-control unit.

Wherein, as a possible implementation manner, in order to reduce the cost of the positioning device, the second GNSS chip may use a single-frequency chip.

Based on the positioning device shown in FIG. 6 , please refer to FIG. 7 . FIG. 7 is another schematic flowchart of a positioning method provided by an embodiment of the present application. On the basis of FIG. 2 , the positioning method further includes the following step:

S211, the micro-control unit constructs a double-difference differential equation according to the pseudorange and carrier phase corresponding to the first GNSS chip and the pseudorange and carrier phase monitored by the second GNSS chip;

S213, the micro-control unit obtains the relative position vector according to the set baseline length as the constraint condition of the double-difference differential equation;

S215, the micro-control unit obtains the baseline heading angle according to the relative position vector.

In this embodiment of the present application, on the basis of obtaining the positioning coordinates of the first GNSS chip based on the above-mentioned embodiments of the present application, the positioning coordinates of the first GNSS chip are used as the reference point, and the micro-control unit uses the same method as S201 and S203, for example, according to The pseudorange and carrier phase corresponding to the first GNSS chip, and the pseudorange and carrier phase monitored by the second GNSS chip are calculated to obtain the pseudorange double difference and the carrier phase double difference, respectively, to construct a double difference differential equation.

The specific structure is as the above formula (1) and formula (2), the only difference is that the above formula (1) and formula (2) use the base station as the station r, the first GNSS chip as the station 1, and when the orientation is The constructed double-difference equation takes the first GNSS chip as station 1 and the second GNSS chip as station 2, then the constructed double-difference equation can be expressed as:

和

均可以视为0。Similarly, in the above formula, since in the same positioning device, the distance between the first GNSS chip and the second GNSS chip is relatively close (not more than 10km), the influence of the current layer and the troposphere can be ignored, that is,

and

can be regarded as 0.

处采用泰勒级数展开，略去高项后，得到双差微分误差方程表示为：where the initial position of the second GNSS chip

Taylor series expansion is used at , and after omitting the high term, the double-difference differential error equation is obtained, which is expressed as:

表示误差方程的误差项，

(x_p,y_p,z_p)为卫星p的位置，(x_q,y_q,z_q)为卫星q的位置，

为双差模糊度，

为观测值与未知参数近似值求得的计算值之差，(δx₂,δy₂,δz₂)为初始位置

的改正数。In the above formula (5) and formula (6),

represents the error term of the error equation,

(x _p , y _p , z _p ) is the position of satellite p, (x _q , y _q , z _q ) is the position of satellite q,

is the double difference ambiguity,

is the difference between the observed value and the calculated value obtained from the approximation of the unknown parameter, (δx ₂ ,δy ₂ ,δz ₂ ) is the initial position

correction number.

Assuming that the positioning coordinates of the first GNSS chip are (x ₁ , y ₁ , z ₁ ), and the approximate position of the second GNSS chip is (x ₂ , y ₂ , z ₂ ), the first GNSS chip and the second GNSS chip will be characterized The distance of the chip is used as the set baseline length L, and the obtained baseline length constraint equation is:

L=(x ₁ -x ₂ ) ² +(y ₁ -y ₂ ) ² +(z ₁ -z ₂ ) ² (7)

Therefore, combined with the above formula (5) and formula (6), formula (7) is expanded by Taylor series at the initial position of the second GNSS chip, and the high term is omitted to obtain:

为观测值与未知参数近似值求得的计算值之差。In the formula,

The difference between the calculated value for the observed value and the approximation for the unknown parameter.

Then, for example, the least squares method is used to solve the above formula (8), and the relative position vector representing the connection direction of the first GNSS chip and the second GNSS chip is obtained, and then the baseline heading angle is obtained according to the direction of the relative position vector, achieve orientation.

It can be seen that, based on the above design, in a positioning method provided by the embodiment of the present application, on the basis of the obtained positioning coordinates of the first GNSS chip, the distance between the first GNSS chip and the second GNSS chip is used as a constraint condition, and combined with The pseudorange and carrier phase monitored by the first GNSS chip, as well as the pseudorange and carrier phase monitored by the second GNSS chip, construct the obtained double-difference differential equation, so as to obtain the connection direction that characterizes the first GNSS chip and the second GNSS chip The relative position vector of , and then the baseline heading angle is obtained to realize orientation and reduce the hardware cost of orientation.

It is worth noting that the above implementation is only for illustration. On the basis of obtaining the first GNSS chip, the relative position vector of the second GNSS chip and the first GNSS chip is measured in combination to achieve the purpose of orientation. In some possible implementations, for example, the first GNSS chip can be used to calculate the positioning coordinates to calculate the positioning coordinates of the second GNSS chip, so as to locate the second GNSS chip according to the positioning coordinates obtained by positioning the first GNSS chip and positioning the second GNSS chip. The positioning coordinates obtained by the chip are used to calculate the orientation, which depends on the specific application scenario or different settings of the positioning device, as long as the first GNSS chip and the second GNSS chip can be used to achieve the purpose of orientation.

In the embodiments provided in this application, it should be understood that the disclosed apparatus and method may also be implemented in other manners. The apparatus embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functions and operations of possible implementations of the apparatus, methods and computer program products according to the embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions.

It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

In addition, each functional module in the embodiments of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a removable hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk and other media that can store program codes.

To sum up, a positioning device, a method, and a computer-readable storage medium provided by the embodiments of the present application adopt a positioning device composed of a communication unit, a first GNSS chip, and a micro-control unit, and the micro-control unit obtains the first At epoch k, the satellite data monitored by the base station and the first GNSS chip respectively, and based on the satellite data monitored by the base station and the first GNSS chip, the floating-point positioning solution of the positioning coordinates of the first GNSS chip is obtained, and the floating-point positioning solution is The ambiguity is fixed, and after the integer solution corresponding to the ambiguity is obtained, the floating-point positioning solution and the obtained integer solution are used to calculate the positioning coordinates of the first GNSS chip. Compared with the prior art, the positioning is no longer dependent on For high-precision boards, it can reduce the hardware cost of positioning.

In addition, the cycle slip check is performed on the carrier phase double difference to determine whether a cycle slip occurs in the carrier phase double difference, and when a cycle slip occurs in the carrier phase double difference, the carrier phase double difference is updated to avoid being used in the calculation. The positioning coordinates of the first GNSS chip are affected by cycle slips occurring in the carrier phase double difference.

In addition, on the basis of the obtained positioning coordinates of the first GNSS chip, the distance between the first GNSS chip and the second GNSS chip is used as a constraint condition, and the pseudorange and carrier phase monitored by the first GNSS chip are combined with the second GNSS chip. The pseudorange and carrier phase monitored by the GNSS chip are used to construct the obtained double-difference differential equation, so as to obtain the relative position vector representing the connection direction of the first GNSS chip and the second GNSS chip, and then obtain the baseline heading angle to achieve orientation and reduce Targeted hardware cost.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

It will be apparent to those skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Accordingly, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the application is to be defined by the appended claims rather than the foregoing description, which is therefore intended to fall within the scope of the claims. All changes that come within the meaning and scope of equivalents to are included in this application. Any reference signs in the claims shall not be construed as limiting the involved claim.

Claims (8)

1. The positioning method is characterized by being applied to positioning equipment, wherein the positioning equipment comprises a micro control unit, a communication unit and a first global satellite positioning navigation system (GNSS) chip, wherein the communication unit and the first GNSS chip are respectively and electrically connected with the micro control unit; the method comprises the following steps:

the micro control unit acquires satellite data monitored by a base station in a k-th epoch and satellite data monitored by the first GNSS chip in the k-th epoch through the communication unit, wherein the satellite data monitored by the base station comprises a pseudo range and a carrier phase, and the satellite data monitored by the first GNSS chip comprises the pseudo range and the carrier phase;

the micro control unit respectively calculates and obtains pseudo-range double differences and carrier phase double differences according to the pseudo-range and the carrier phase corresponding to the base station and the pseudo-range and the carrier phase monitored by the first GNSS chip;

the micro control unit processes the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;

the micro control unit fixes the ambiguity in the floating point positioning solution to obtain an integer solution corresponding to the ambiguity;

the micro control unit calculates to obtain a positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity;

before the step of processing the pseudorange double differences and the carrier phase double differences by the micro control unit to obtain a floating point positioning solution of the first GNSS chip, the method further includes:

the micro control unit carries out cycle slip detection on the double differences of the carrier phases;

if the check is passed, executing the micro control unit to process the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;

if the check fails, the micro control unit updates the carrier phase double difference, and executes the micro control unit to process the pseudo-range double difference and the carrier phase double difference according to the updated carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;

the step of cycle slip detection of the double differences of the carrier phases by the micro control unit comprises the following steps:

the micro control unit is used for fitting the carrier phase double-difference observed values of the plurality of time sequences to obtain fitting observed values;

the micro control unit judges whether the difference value of the fitting observation value and the carrier phase double difference reaches a carrier phase threshold value;

if so, the cycle slip test is failed; if not, the cycle slip passes the test.

2. The method of claim 1, wherein the step of the mcu processing the double pseudorange differences and the double carrier-phase differences to obtain a floating-point position solution for the first GNSS chip comprises:

the micro control unit processes the pseudo-range double difference and the carrier phase double difference by using a Kalman filtering algorithm to obtain the floating point positioning solution of the first GNSS chip;

wherein, the system equation of the Kalman filtering is as follows:

wherein subscripts k and k-1 represent k epochs and k-1 epochs, respectively;

x, y and z respectively represent position parameters of the first GNSS chip positioning coordinate,

respectively representing the speed parameters of the first GNSS chip,

respectively representing the carrier phase double-difference ambiguity;

is a state transition matrix, Γ, of the Kalman Filter System equation_k-1A noise coefficient matrix of the Kalman filtering system equation; w is a_k-1Is a set process noise vector;

y_kPand

respectively a pseudo-range double-difference observation vector and a carrier phase double-difference observation vector; h_kIs a matrix of measurement coefficients, v, of the Kalman filter system equation_kTo observe the noise.

3. The method of claim 1, wherein the step of fixing the ambiguity in the floating point positioning solution by the micro-control unit to obtain the integer solution corresponding to the ambiguity comprises:

the micro control unit fixes the ambiguity in the floating point positioning solution by using an LAMBDA algorithm to obtain an integer solution corresponding to the ambiguity;

wherein, the target function searched by the LAMBDA algorithm is as follows:

in the formula, N is belonged to Zⁿ，

For real solutions of ambiguity in the floating point positioning solution,

a co-factor matrix of real solutions for ambiguity in the floating point positioning solution.

4. The method of claim 1, wherein the micro control unit updates the formula for the carrier phase double difference as:

in the formula,

is t_kThe carrier phase double difference after updating the epoch time, f is the carrier frequency of the satellite, c is the speed of light,

is t_kDouble differencing of pseudoranges at epoch time.

5. The method according to any of claims 1-4, wherein prior to the step of the micro control unit calculating the positioning coordinates of the first GNSS chip according to the floating-point positioning solution and the integer solution corresponding to the ambiguities, the method further comprises:

the micro control unit detects an integer solution corresponding to the ambiguity according to a Ratio detection algorithm;

if the check is passed, executing the step that the micro control unit calculates to obtain the positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity;

and if the test is not passed, the micro control unit discards the integer solution corresponding to the ambiguity.

6. The method of claim 1, wherein said positioning device further comprises a second GNSS chip, said second GNSS chip being electrically connected to said micro-control unit; the method further comprises the following steps:

the micro control unit constructs a double-difference differential equation according to the pseudo range and the carrier phase corresponding to the first GNSS chip and the pseudo range and the carrier phase monitored by the second GNSS chip;

the micro control unit obtains a relative position vector according to a set base length serving as a constraint condition of the double-difference differential equation, wherein the set base length represents the distance between the first GNSS chip and the second GNSS chip, and the relative position vector represents the connecting line direction of the first GNSS chip and the second GNSS chip;

and the micro control unit obtains a baseline course angle according to the relative position vector.

7. The positioning equipment is characterized by comprising a micro control unit, a communication unit and a first global satellite positioning navigation system (GNSS) chip, wherein the communication unit and the first GNSS chip are respectively and electrically connected with the micro control unit;

the micro control unit is used for acquiring satellite data monitored by a base station in a k-th epoch and satellite data monitored by the first GNSS chip in the k-th epoch through the communication unit, wherein the satellite data monitored by the base station comprises a pseudo range and a carrier phase, and the satellite data monitored by the first GNSS chip comprises the pseudo range and the carrier phase;

the micro control unit is further used for respectively calculating a pseudo range double difference and a carrier phase double difference according to the pseudo range and the carrier phase corresponding to the base station and the pseudo range and the carrier phase monitored by the first GNSS chip;

the micro control unit is further configured to process the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;

the micro control unit is further configured to fix the ambiguity in the floating point positioning solution to obtain an integer solution corresponding to the ambiguity;

the micro control unit is further used for calculating to obtain a positioning coordinate of the first GNSS chip according to the floating point positioning solution and the integer solution corresponding to the ambiguity;

the micro control unit is also used for carrying out cycle slip detection on the double differences of the carrier phases;

if the checking is passed, processing the pseudo-range double difference and the carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;

if the check fails, updating the carrier phase double difference, and processing the pseudo-range double difference and the carrier phase double difference by using the updated carrier phase double difference to obtain a floating point positioning solution of the first GNSS chip;

the micro control unit is also used for fitting the carrier phase double-difference observed values of the plurality of time sequences to obtain a fitting observed value;

the micro control unit is further used for judging whether the difference value of the fitting observation value and the carrier phase double difference reaches a carrier phase threshold value;

if so, the cycle slip test is failed; if not, the cycle slip passes the test.

8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.

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