CN113253307A - GNSS multi-satellite coarse timing method and system in rotating antenna scene and storage medium - Google Patents
GNSS multi-satellite coarse timing method and system in rotating antenna scene and storage medium Download PDFInfo
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Abstract
The invention discloses a GNSS multi-satellite coarse timing method, a GNSS multi-satellite coarse timing system and a storage medium in a rotary antenna scene, wherein the method comprises the following steps: acquiring first information between the receiver and each satellite, wherein the first information is a difference value between signal receiving time and signal transmitting time between the receiver and the corresponding satellite; acquiring second information of each satellite, wherein the second information is any value in the satellite-ground transmission delay range of the corresponding satellite; acquiring a difference value between the corresponding first information and the corresponding second information of each satellite, and selecting a maximum value and a minimum value from all the difference values; and if the difference value between the maximum value and the minimum value does not exceed the threshold value, timing the receiver based on the maximum value and the minimum value. The invention compresses the uncertain range of the receiver time at the moment of receiving the satellite for the first time. The invention corrects the time of the receiver by utilizing the consistency rule of the difference value between the pseudo-range measured by the receiver and the transmission delay of each satellite signal, so that the time of the receiver is more accurate.
Description
Technical Field
The invention relates to the technical field of satellite navigation receivers, in particular to a GNSS multi-satellite coarse timing method, a GNSS multi-satellite coarse timing system and a storage medium in a rotating antenna scene.
Background
Two conditions are needed for the receiver to realize positioning, namely, the accurate position of each satellite in space and the accurate distance from the receiver to each satellite. The satellite positions can be calculated from ephemeris parameters in the text and the distances from the receiver to the satellites are measured by the receiver. How to obtain more accurate distance measurement values is a key step in navigation positioning.
Pseudorange is the most basic range measurement of a satellite signal by a receiver, and is defined as the difference between the time of signal reception and the time of signal transmission multiplied by the speed of light. The signal transmission time is calculated from the ranging code phase and the signal reception time is read from the receiver clock.
The difference between the signal reception time and the signal transmission time is called the satellite signal propagation delay, and refers to the propagation time from the transmission of the signal from the satellite to the reception of the user, and is influenced by factors such as the atmospheric propagation delay and the Sagnac effect, depending on the distance between the user and the satellite. The orbit heights of different types of satellites are different, so the propagation delays are different, for example, the propagation delay of an MEO satellite is about 70 to 90ms, and the propagation delays of GEO and IGSO satellites are about 120 to 140 ms.
When the receiver is initially powered on, the time of the receiver is unknown, and after receiving satellite signals, a rough time is obtained, the uncertainty of the time is about +/-20 ms, and generally, a more accurate positioning result can be obtained by a traditional four-state variable (namely three-dimensional receiver position coordinates and receiver clock error) positioning algorithm only when the accuracy of the receiver to the time is in the order of 10ms or higher. Therefore, how to compress the uncertainty range of time quickly becomes a critical step in the positioning algorithm.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a GNSS multi-satellite coarse timing method, a GNSS multi-satellite coarse timing system and a storage medium in a rotating antenna scene, which can compress the uncertain range of the receiver time and ensure that the receiver time is more accurate.
The invention provides a GNSS multi-satellite coarse timing method under a rotating antenna scene, which acts on a current epoch and comprises the following steps:
respectively acquiring first information between a receiver and each satellite, wherein the first information is a difference value between signal receiving time and signal transmitting time between the receiver and the corresponding satellite;
respectively acquiring second information of each satellite, wherein the second information is any value in a satellite-ground transmission delay range corresponding to the satellite;
respectively acquiring a difference value between the first information corresponding to each satellite and the second information corresponding to each satellite, and selecting a maximum value and a minimum value from all the difference values;
and if the difference value between the maximum value and the minimum value does not exceed a threshold value, timing the receiver time of the receiver based on the maximum value and the minimum value.
According to the embodiment of the invention, at least the following technical effects are achieved:
by the method, the uncertain range of the receiver time is compressed at the moment of receiving the satellite for the first time. Compared with the method of roughly calibrating time by using a single satellite, the method corrects the time of the receiver by utilizing the consistency rule of the difference values of the pseudo-range measured by the receiver and the signal transmission time delay of each satellite, so that the time of the receiver is more accurate, and the clock error of the receiver is reduced by 1-9 ms.
In a second aspect of the present invention, a GNSS multi-satellite coarse calibration system in a rotating antenna scene is provided, including: a receiver and a plurality of satellites connected to the receiver.
According to some embodiments of the invention, at least the following technical effects are achieved:
by the system, the uncertain range of the receiver time is compressed at the moment of receiving the satellite for the first time. Compared with the method of roughly calibrating time by using a single satellite, the system corrects the time of the receiver by utilizing the consistency rule of the difference values of the pseudo-range measured by the receiver and the signal transmission delay of each satellite, so that the time of the receiver is more accurate, and the clock error of the receiver is reduced by 1-9 ms.
In a third aspect of the present invention, a computer-readable storage medium is provided, where the computer-readable storage medium stores computer-executable instructions for causing a computer to execute the GNSS multi-satellite coarse timing method in a rotating antenna scenario according to the first aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a GNSS multi-satellite coarse timing method in a rotating antenna scene according to an embodiment of the present invention;
fig. 2 is a logic block diagram of a GNSS multi-satellite coarse timing method in a rotating antenna scene according to an embodiment of the present invention;
fig. 3 is a graph of experimental data provided by an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Before describing the embodiments of the present invention, the technical problems solved by the present invention and the principles upon which the present invention is based will be described.
When the receiver is initially powered on, the time of the receiver is unknown, and after receiving satellite signals, a rough time is obtained, the uncertainty of the time is about +/-20 ms, and generally, a more accurate positioning result can be obtained by a traditional four-state variable (namely three-dimensional receiver position coordinates and receiver clock error) positioning algorithm only when the accuracy of the receiver to the time is in the order of 10ms or higher. Therefore, how to compress the uncertainty range of time quickly becomes a critical step in the positioning algorithm.
The invention provides a multi-satellite coarse timing method aiming at the problem that the uncertain range of the time of a user receiver is large at the moment of receiving a satellite for the first time in a rotating scene. The receiver clock offset is reduced by about 1 to 9ms compared to using a single satellite coarse timing.
A first embodiment;
referring to fig. 1 and fig. 2, an embodiment of the present invention provides a GNSS multi-satellite coarse timing method in a rotating antenna scene, including the following steps:
step S100, respectively obtaining first information between the receiver and each satellite, where the first information is a difference between a signal receiving time and a signal transmitting time between the receiver and the corresponding satellite.
Firstly, solving the signal receiving time and the signal transmitting time;
signal emission time: the receiver measures not the time of signal transmission but the Code Phase (CP), i.e., the position of the currently received ranging code within a full period of the ranging code. The method comprises the steps of carrying out correlation analysis on a received signal and a ranging code copied in the received signal through a code correlator, and measuring a code phase value in a satellite signal received at a receiving moment by utilizing the autocorrelation characteristic of the ranging code.
Time t of signal transmissionsThe assembly needs to be performed on the basis of code phase measurement values, taking an MEO satellite with a BDS-B1I frequency point as an example, the calculation formula is as follows:
the SOW is a count of seconds in a week and represents a time corresponding to a rising edge of a first pulse of a synchronization header of a subframe, w represents a navigation message received by a receiver in a current subframe, each word comprises 30 bits, b represents a navigation message bit received by the receiver in the current word, each bit is 20ms long, c represents a navigation message of a whole-cycle ranging code received by the receiver in the current bit, the period of the ranging code is 1ms, and CP represents a code phase measurement value of a signal received by the receiver in the current cycle ranging code, wherein the code phase measurement value ranges from 0 to 2046 chips.
Signal reception time: read from the receiver clock with the order tu。
Then, the difference between the signal receiving time and the signal transmitting time between the receiver and the corresponding satellite is obtained, and the difference is made to be delta t:
Δt＝tu-ts
and step S200, respectively acquiring second information of each satellite, wherein the second information is any value in the satellite-ground transmission delay range of the corresponding satellite.
As an alternative, the second information is a median of the satellite-to-ground transmission delay range of the corresponding satellite. For example, if the transmission delay of GEO and IGSO satellites ranges from about 120 to 140ms, the median is 130 ms; the transmission delay of MEO satellites ranges from about 70 to 90ms, with a median of 80 ms. Compared with the other values, the final obtained effect is more accurate by setting the second information as the median value of the satellite-to-ground transmission delay range, and the result can be obtained through an experimental result. Taking the MEO satellite as an example, the effect obtained by selecting 80ms is more accurate than 90ms or 70 ms.
And step S300, respectively acquiring the difference value between the corresponding first information and the corresponding second information of each satellite, and selecting the maximum value and the minimum value from all the difference values.
Let the difference be Δ τ, then Δ τ is equal to:
Δτ＝|Δt-τ|
respectively setting the maximum value and the minimum value of all the difference values as: delta taummax，Δτmin；
And step S400, if the difference value between the maximum value and the minimum value does not exceed the threshold value, timing the receiver time of the receiver based on the maximum value and the minimum value.
The threshold value set in the step can ensure the consistency of the signals of all satellites, and the consistency rule of the transmission time delay of all satellites means that the respective measurement time delay of each satellite is consistent with the theoretical time delay, and the difference value of the measurement time delay and the theoretical time delay is consistent among all satellites. Each satellite is at t according to its own satellite clocksA certain signal is emitted at a moment tsThe time instant is referred to as the satellite signal transmission time, the signal being at tuTime of day is received by the receiver, tuCalled signal reception time, and the difference between the two is the signal propagation time measured by the receiver, i.e. the measurement time delay. The theoretical time delay refers to the actual propagation time of the signal from the satellite to the receiver and is determined according to the orbital altitude of the satellite.
Δ τ calculated according to the previous stepmmaxAnd Δ τminAnd then:
if and only if X does not exceed the threshold, the next step is performed. When X exceeds the threshold value, it shows that the signal time of each satellite is not consistent, at this time, it is judged that the epoch can not carry out coarse calibration, and it waits for the next epoch to carry out coarse calibration again. Here, the threshold value is preferably 10 ms.
Timing the receiver time of the receiver based on the maximum and minimum values of the difference, comprising the steps of:
the coarse correction value T is calculated as follows:
the process of calibrating the receiver time using T is called coarse timing, i.e., T is added to the receiver time.
By the embodiment of the method, the uncertain range of the receiver time is compressed at the moment of receiving the satellite for the first time. Compared with the method of roughly calibrating time by using a single satellite, the method corrects the time of the receiver by utilizing the consistency rule of the difference values of the pseudo-range measured by the receiver and the signal transmission time delay of each satellite, so that the time of the receiver is more accurate, and the clock error of the receiver is reduced by 1-9 ms.
A second embodiment;
to demonstrate the accuracy of the method of the first embodiment, this example provides a set of experiments, the results of which are shown in fig. 3; in the figure, the abscissa indicates the second in the week, the unit is s, the ordinate indicates the difference between the corrected time value and the local clock offset, the unit is ms, and the dotted line, and the chain line in the figure indicate the calculation results using GEO (star 5), IGSO (star 10), and MEO satellite (star 15) alone, respectively. It can be seen from the figure that the timing error of a satellite used alone is about 2 to 9ms, and the timing error of the method is within 2ms, so that the receiver clock error is reduced by 1 to 9ms compared with the timing by using a single satellite.
Through a GNSS navigation satellite signal simulation source, BDS-B1I frequency point satellite signals under a carrier rotation scene are simulated and generated. The test was performed using a self-developed receiver for about 10 minutes. The time correction value output by each epoch receiver under different methods is recorded, namely the time correction value calculated by using one satellite alone and the time correction value calculated by using the method are compared with the local clock error obtained by positioning calculation respectively. The closer the timing value is to the local clock difference, the more accurate the receiver time after timing.
A third embodiment;
an embodiment of the present invention further provides a GNSS multi-satellite rough calibration system in a rotating antenna scene, including: a receiver and a plurality of satellites connected to the receiver. The satellite includes a GEO, IGSO, or MEO satellite.
Like the first embodiment, the system embodiment compresses the uncertainty range of the receiver time when the satellite is received for the first time. Compared with the method of roughly calibrating time by using a single satellite, the system corrects the time of the receiver by utilizing the consistency rule of the difference values of the pseudo-range measured by the receiver and the signal transmission delay of each satellite, so that the time of the receiver is more accurate, and the clock error of the receiver is reduced by 1-9 ms.
The present invention further provides a computer-readable storage medium, which stores computer-executable instructions for causing a computer to execute the GNSS multi-satellite coarse timing method in the rotating antenna scenario according to the first embodiment of the present invention.
Those skilled in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A GNSS multi-satellite coarse timing method under a rotating antenna scene is characterized by acting on a current epoch, and comprises the following steps:
respectively acquiring first information between a receiver and each satellite, wherein the first information is a difference value between signal receiving time and signal transmitting time between the receiver and the corresponding satellite;
respectively acquiring second information of each satellite, wherein the second information is any value in a satellite-ground transmission delay range corresponding to the satellite;
respectively acquiring a difference value between the first information corresponding to each satellite and the second information corresponding to each satellite, and selecting a maximum value and a minimum value from all the difference values;
and if the difference value between the maximum value and the minimum value does not exceed a threshold value, timing the receiver time of the receiver based on the maximum value and the minimum value.
2. The GNSS multi-satellite coarse timing method under the scenario of a rotating antenna according to claim 1, wherein the timing the receiver time of the receiver based on the maximum value and the minimum value comprises the steps of:
obtaining
Wherein said Δ τmaxRepresents the maximum value, the Δ τminRepresents the minimum value;
and timing the receiver time of the receiver through the T.
3. The GNSS multi-satellite coarse timing method under the scenario of a rotating antenna of claim 1, wherein the second information is a median value within a satellite-to-ground transmission delay range corresponding to the satellite.
4. The method of claim 1, wherein the GNSS multi-satellite coarse timing of a next epoch is performed if a difference between the maximum value and the minimum value exceeds the threshold.
5. The GNSS multi-satellite coarse timing method in a rotating antenna scenario, according to claim 1, wherein a signal transmission time between the receiver and the corresponding satellite is assembled from code phase values received by the receiver.
6. The GNSS multi-satellite coarse timing method in a rotating antenna scenario, according to claim 1, wherein a signal reception time between the receiver and the corresponding satellite is derived from a clock of the receiver.
7. A GNSS multi-satellite rough calibration time system under a rotating antenna scene is characterized by comprising: a receiver and a plurality of satellites connected to the receiver.
8. The GNSS multi-satellite coarse time calibration system in a rotating antenna scenario of claim 7, wherein the satellite comprises a GEO, IGSO or MEO satellite.
9. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the method of GNSS multi-satellite coarse timing in a rotating antenna scenario of any of claims 1 to 6.
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