CN101464506A - Astronomical aided single-star positioning method - Google Patents

Abstract

The invention belongs to the positioning and navigation field, and relates to a celestial positioning and satellite positioning cross application subject. The invention is achieved by a positioning resolution terminal device 1. The positioning resolution terminal device 1 comprises a satellite positioning measurement module 2,a celestial satellite historical data base module 3, a liquid crystal display module 4, a keyboard operating module 5, a MCU main control module 6, a power supply module 7 and an optional accurate clock input module 8. When the number of GNSS satellite signals received is less than 3, the positioning resolution terminal device 1 still can resolve a user site under the celestial assistance. The invention is suitable for positioning and navigation under the severe environment, and obtaining user site data with higher accuracy.

Description

The single-star positioning method that a kind of astronomy is auxiliary

Affiliated technical field

The invention belongs to positioning and navigation field, relate to celestial body location and satellite positioning cross application branch of learning, be specifically related to the auxiliary single-star positioning method of a kind of astronomy.

Background technology

Under rugged environment (for example valley, forest etc.), being less than under 3 the situation when the satellite-signal of receiving is to position.In the case, need again to position in military or other special application fields, solve this method at present and usually use inertial navigation to calculate, the inertial navigation projectional technique as time passes, error increases gradually, is not suitable for the situation that can't utilize the GNSS location for a long time.

Summary of the invention

Purpose of the present invention just provides a kind ofly resolves user's current location receiving under the situation that the GNSS satellite-signal is less than 3 by astronomical celestial body is auxiliary, is applicable to the location navigation that carries out degree of precision under the rugged surroundings.

Technical scheme of the present invention is: the single-star positioning method that a kind of astronomy is auxiliary, realize that by positioning calculation terminal device 1 positioning calculation terminal device 1 is made up of satellite positioning surveys module 2, celestial body almanac data library module 3, LCD MODULE 4, keyboard operation module 5, MCU main control module 6, power module 7 and alternative precision clock load module 8.Wherein, power module 7 provides the power supply support for positioning calculation terminal device 1, satellite positioning surveys module 2 is measured the GNSS satellite-signal that observes in real time, and measurement data sent to MCU main control module 6, MCU main control module 6 is judged the number of satellite that receives, when GNSS satellite during greater than 3, positioning calculation terminal device 1 directly utilizes the GNSS satnav; When the GNSS satellite-signal that receives during less than 3, positioning calculation terminal device 1 changes the auxiliary GNSS single-star positioning method of celestial body automatically over to, at this moment, by the observation data of user by keyboard operation module 5 input observation celestial bodies, MCU main control module 6 obtains this celestial body ephemeris according to searching for celestial body almanac data library module 3 after the astronomical observation data that receive automatically, and calculate customer location automatically, and the position location is shown on the LCD MODULE 4 in conjunction with the precise time information of of observing or two GNSS satellite-signals and alternative precision clock load module 8 inputs.Concrete treatment step is as follows:

1) whether processor real-time judges the GNSS satellite-signal receive greater than 3, if during less than 3 then enter celestial body auxiliary positioning pattern, directly utilizes the GNSS satellite-signal to position otherwise change step 8) over to;

When 2) entering celestial body auxiliary positioning pattern,, recommend the observation celestial body at first according to current point in time;

3) when this celestial body is not easy to observe, repeating step 2) search for new celestial body, up to selecting suitable celestial body;

4) observation day volume data and import navigation terminal equipment;

5) obtain this celestial body location correlation parameter office data from celestial body almanac data library module 3;

6) detect whether precision clock input data are arranged;

7) according to the number of satellite that observes with whether have clock to import data to select corresponding positioning calculation mathematical model;

8) calling corresponding mathematics resolves model and positions and resolve;

9) locator data is stored demonstration, and change step 1) repetition said process over to.

In the auxiliary GNSS single-star positioning method of a kind of astronomy,, utilize common satnav calculation method as the formula (1) when the GNSS satellite-signal that receives during greater than 3:

$\left.\begin{array}{c}{\mathrm{\ρ}}_1^2={(x_p-x_1)}^2+{(y_p-y_1)}^2+{(z_p-z_1)}^2\\ {\mathrm{\ρ}}_2^2={(x_p-x_2)}^2+{(y_p-y_2)}^2+{(z_p-z_2)}^2\\ {\mathrm{\ρ}}_1^2={(x_p-x_2)}^2+{(y_p-y_2)}^2+{(z_p-z_2)}^2\end{array}\right\}---\left(1\right)$

Wherein, x _p, y _p, z _pBe user's position data to be resolved, ρ _iBe that i satellite measured pseudorange, x _i, y _i, z _iIt is the locus of i satellite.

When observing less than 3 GNSS satellites, can utilize observation sun survey dimension to carry out the auxiliary calculating of celestial body by day, can utilize evening Polaris or other celestial bodies to survey dimension and carry out the auxiliary calculating of celestial body.Wherein, when observation GNSS satellite is one, can utilize alternative precision clock load module 8 auxiliary to improve bearing accuracy.

In the GNSS single-star positioning method that a kind of astronomy is assisted, utilize the observation sun to survey the latitude mathematical model as the formula (2):

In the formula, z is the true day spacing of the observation moment sun that calculates, and it is through the result behind solar radius, parallax and the refraction correction; δ is a solar declination, can table look-up by celestial body almanac data library module 3 to obtain.

In the GNSS single-star positioning method that a kind of astronomy is assisted, utilize observation Polaris celestial body to ask the dimension mathematical model as the formula (3):

H is that p is the pole span of Polaris through the arctic elevation angle behind index error, the refraction correction in the following formula, and t is the hour angle of Polaris.

In the GNSS single-star positioning method that a kind of astronomy is assisted, under the situation that records user's latitude, can utilize the Double-Star Positioning System mathematical model that user's longitude is positioned and resolve.Because the GNSS satellite is under the situation of not considering clock correction or have under the auxiliary situation of precision clock, its pseudorange can be measured, therefore, and under the known situation of latitude, utilize formula (1) under the situation of not considering height, can resolve user's longitude data, the therefore final user plane location data that obtain.

The invention has the beneficial effects as follows: adopt the present invention can under harsh environment scenarios, obtain higher user's bearing accuracy.

Description of drawings

The present invention is further described below in conjunction with accompanying drawing and example.

Fig. 1 is a positioning terminal equipment structural drawing of the present invention;

Fig. 2 is a positioning calculation process flow diagram flow chart of the present invention.

Among the figure: 1, positioning calculation terminal device, 2, the satellite positioning surveys module, 3, celestial body almanac data library module, 4, LCD MODULE, 5, the keyboard operation module, 6, the MCU main control module, 7, power module, 8, alternative precision clock load module.

Embodiment

By day, at first recommend sun celestial body according to positioning calculation terminal device 1, observing this altitude of the heavenly body angle is 73 ° 45 ' 30 ", the position angle is 120 ° 18 ' 25 ".Index error and device difference be 1.2 ', and the current local time of known device is 10: 25: 32 on the 12nd November in 2008.

According to 1 prompting of positioning calculation terminal device, with observation data and scope error input positioning calculation terminal device 1, positioning calculation terminal device 1 is searched the relevant modified value of this celestial body in the celestial body almanac data library module 3 automatically, and according to formula (2) obtain 38 ° 52.33 in user place latitude ', the GNSS satellite data of combined measurement, substitution formula (1), obtain 121 ° 38.46 of user's longitude data '.

At night, observation fixed star celestial body (is example with Polaris), recording this altitude of the heavenly body angle is 35 ° 22 ' 30 ", the time is 21: 18: 33 on the 12nd November in 2008, index error and device difference be 1.0 '.

According to 1 prompting of positioning calculation terminal device, with observation data and scope error input positioning calculation terminal device 1, positioning calculation terminal device 1 is searched the relevant modified value of this celestial body in the celestial body almanac data library module 3 automatically, and according to formula (3) obtain 46 ° 32.12 in user place latitude ', the GNSS satellite data of combined measurement, substitution formula (1), obtain 122 ° 07.25 of user's longitude data '.

Claims (1)

1. the auxiliary single-star positioning method of an astronomy, it is characterized in that, this method realizes that by positioning calculation terminal device (1) positioning calculation terminal device (1) is made up of satellite positioning surveys module (2), celestial body almanac data library module (3), LCD MODULE (4), keyboard operation module (5), MCU main control module (6), power module (7) and alternative precision clock load module (8); Wherein, power module (7) provides the power supply support for positioning calculation terminal device (1), satellite positioning surveys module (2) is measured the GNSS satellite-signal that observes in real time, and measurement data sent to MCU main control module (6), MCU main control module (6) is judged the number of satellite that receives, when GNSS satellite during greater than 3, positioning calculation terminal device (1) directly utilizes the GNSS satnav; When the GNSS satellite-signal that receives during less than 3, positioning calculation terminal device (1) changes the auxiliary GNSS single-star positioning method of celestial body automatically over to, at this moment, by the observation data of user by keyboard operation module (5) input observation celestial body, MCU main control module (6) obtains this celestial body ephemeris according to searching for celestial body almanac data library module (3) after the astronomical observation data that receive automatically, and calculate customer location automatically in conjunction with the precise time information of of observing or two GNSS satellite-signals and alternative precision clock load module (8) input, and the position location is shown on the LCD MODULE (4), concrete treatment step is as follows:

1) whether processor real-time judges the GNSS satellite-signal receive greater than 3, if during less than 3 then enter celestial body auxiliary positioning pattern, directly utilizes the GNSS satellite-signal to position otherwise change step 8) over to;

When 2) entering celestial body auxiliary positioning pattern,, recommend the observation celestial body at first according to current point in time;

3) when this celestial body is not easy to observe, repeating step 2) search for new celestial body, up to selecting suitable celestial body;

4) observation day volume data and import navigation terminal equipment;

5) obtain this celestial body location correlation parameter office data from celestial body almanac data library module (3);

6) detect whether precision clock input data are arranged;

7) according to the number of satellite that observes with whether have clock to import data to select corresponding positioning calculation mathematical model;

8) calling corresponding mathematics resolves model and positions and resolve;

9) locator data is stored demonstration, and change step 1) repetition said process over to.

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