CN101909070A - Broadcasting method of real-time accurate satellite positioning product - Google Patents
Broadcasting method of real-time accurate satellite positioning product Download PDFInfo
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Abstract
The invention belongs to the technical field of satellite navigation, in particular to a broadcasting method of a satellite real-time accurate positioning product. Satellite positioning information is separated into a large number and a small number according to the height above or below a hundred meter at a server end, and a client end recovers an identical accurate positioning product through the large number acquired from broadcast ephemeris and the small number transferred by the server. The invention can solve the problems of failure or reduced accuracy of a high-accuracy differential product, and the like caused by the inconsistence for upgrading the broadcasting ephemeris of the server and the client end and the inconsistence between a server and client end software algorithm module and a truncation error.
Description
Technical field
The present invention relates to the satellite navigation technical field, specifically a kind of broadcasting method of real-time accurate satellite positioning product.
Background technology
At present, decimeter grade wide area real-time accurate location systems art is the cutting edge technology and research focus of GNSS application.The real-time continuous operation base station and advanced real-time accurate locating information treatment system of this system by being evenly distributed on a small quantity, broadcast real-time accurate location product information by satellite-based enhancing mode, can increase substantially navigation Service precision, availability, continuity and the integrity of satellite navigation system in the enhancing signal overlay area.
Wherein, broadcasting of precision positioning product (comprising real-time track and clock correction) is an important ring in the wide area real-time accurate navigation system, generally adopt at present the communication mode of synchronous satellite, adopt this communication mode to cause broadcasting bandwidth and become a kind of important resource, therefore when design precision positioning product is broadcast form, need to consider do not reducing the information of broadcasting and weakening under the prerequisite of precision of information, reduce as far as possible and broadcast field length to reduce cost of serving.At this kind situation, at present the RTCA form that adopts of U.S. WASS, European EGNOS, Japanese MSAS system and the U.S. JPL whole world are produced and are divided GPS form etc. all to choose the mode of carrying out difference with broadcast ephemeris, by broadcasting the differential correcting number with respect to broadcast ephemeris, the requirement of broadcasting field with minimizing.
Though above-mentioned form can reduce the pressure to bandwidth on amount of information, but guarantee that the precision and the prerequisite of reliability are to broadcast that to hold be that the value of data in server processing center and the receiving terminal satellite orbit clock correction that to be user side resolve by broadcast ephemeris is identical, this is just implying two restrictive conditions:
1. guarantee to broadcast end and adopt same group of broadcast ephemeris parameter with the synchronous clock correction that receiving terminal calculates;
2. consistent with the method for clock correction based on the track of broadcast ephemeris calculating, comprise truncated error.
For guaranteeing condition 1, above-mentioned several method adopts the data length of time of relatively broadcasting in end and the receiving terminal broadcast ephemeris, guarantees to adopt same group of broadcast ephemeris.Though the method is feasible in the ordinary course of things, in fact, same satellite might have two groups of almanac datas in the same period in the GPS broadcast ephemeris, and the reference of two groups of parameters is constantly at a distance of 16 seconds.In this case, broadcast end and might receive wherein one group of data respectively with receiving terminal, and use always next the group almanac data renewal (after about 2 hours), make comparisons the length of time by data thus, user side just existed in these 2 hours can't find the broadcast ephemeris consistent with broadcasting end, and can't use the high-precision difference information that end is broadcast of broadcasting.Identical problem can appear at the broadcast ephemeris updated time equally, end might occur broadcasting and upgrade early than receiving terminal, and receiving terminal can't use high-precision difference information equally in the case.
About condition 2, because the used software of server end and user side often is not the exploitation of same tissue or unit, on model and numerical precision, be difficult to keep the unanimity of strictness thus, therefore also can introduce error, influence positioning accuracy.
Summary of the invention
Purpose of the present invention is exactly in order to overcome the weak point of above-mentioned background technology, and a kind of broadcasting method of real-time accurate satellite positioning product is provided, its is can settlement server inconsistent with the renewal of user side broadcast ephemeris, server and user side software algorithm model and truncated error is inconsistent and high-precision difference product that cause can't use or problem such as precision reduction.
To achieve these goals, the broadcasting method of a kind of real-time accurate satellite positioning product provided by the invention, described precision positioning product comprises Precise Orbit information ORB
PreAnd clock correction information CLK
Pre, this method may further comprise the steps:
(1) server carries out quality inspection to the precision positioning product that obtains in current epoch, if repeating step (1) when next epoch is not passed through in check; If upcheck, then enter step (2); This step is in order to judge whether current its precision of precision positioning product of obtaining meets the transmission requirement.
(2) server intercepting Precise Orbit information ORB
PreAnd clock correction information CLK
PreHundred meters following numerical value in position, and this numerical value broadcast to user side as the differential correcting number.
(3) user side receives Precise Orbit information ORB
PreAnd clock correction information CLK
PreHundred meters following numerical value in position, add the satellite-orbit information ORB that synchronization calculates from broadcast ephemeris
Brd1And clock correction information CLK
Brd1Hundred meters positions and above numerical value, be combined into complete precision positioning product initial value, comprise orbit information ORB
Pre0And clock correction information CLK
Pre0
(4) user side carries out quality inspection to precision positioning product initial value, if check is not passed through, then proofreaies and correct Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0Hundred meters positions; If upcheck, then obtain the end value of precision positioning product.
In technique scheme, the described server of this method be meant have the generation of precision positioning product, the end of broadcasting that function is broadcast in broadcast ephemeris reception, data processing, data; Described user side be meant have the broadcast ephemeris reception, receiving terminal that data processing, server are broadcast the Data Receiving function.
In technique scheme, the quality inspection described in the step (1) is the Precise Orbit information ORB that will obtain
PreAnd clock correction information CLK
PreThe orbit information ORB that from broadcast ephemeris, calculates with synchronization
BrdAnd clock correction information CLK
BrdUtilize following formula to compare, wherein C represents the light velocity,
ΔORB＝|ORB
pre-ORB
brd|
ΔCLK＝|CLK
pre-CLK
brd|×C
If difference is counted Δ ORB, difference is counted Δ CLK greater than 30.0, judge that then the difference number is invalid, check is not passed through; If difference is counted Δ ORB, difference is counted Δ CLK smaller or equal to 30.0, judge that then the difference number is effective, upcheck.Basis for estimation is to adopt difference between the broadcast ephemeris in 6 hours track that calculates and the Precise Orbit of obtaining 10 meters magnitudes under the normal condition, and this is according to being present conclusion to drawing after the mass data analysis.
In technique scheme, the quality inspection described in the step (4) is with Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0The satellite-orbit information ORB that from broadcast ephemeris, calculates with synchronization
Brd1And clock correction information CLK
Brd1Utilize following formula to compare, wherein C represents the light velocity,
ΔORB0＝|ORB
pre0-ORB
brd1|
ΔCLK0＝|CLK
pre0-CLK
brd1|×C
If difference is counted Δ ORB
0, difference counts Δ CLK
0Greater than 30.0, judge that then the difference number is invalid, check is not passed through; If difference is counted Δ ORB
0, difference counts Δ CLK
0Smaller or equal to 30.0, judge that then the difference number is effective, upcheck.Basis for estimation is to adopt difference between track that the broadcast ephemeris in 6 hours calculates and the Precise Orbit of obtaining 10 meters magnitudes under the normal condition.
In technique scheme, described in the step (4) to Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0To proofread and correct be that the numerical value on hundred meters positions is added 1 or subtract 1 in hundred meters positions, count Δ ORB to satisfy difference
0, difference counts Δ CLK
0Requirement smaller or equal to 30.0.
The broadcasting method of the real-time accurate satellite positioning product of the present invention prior art of comparing has following advantage:
One, the truncated error precision of assurance location product
This method is the pattern of " big number calculates; the decimal replacement " owing to what adopt, wherein " big number " is meant hundred meters positions and above numerical value, " decimal " refers to the numerical value that hundred meters positions are following, actual truncated error is " decimal " last represented unit, therefore, guaranteeing to broadcast the truncated error that can be as accurate as millimeter level (0.003 nanosecond of clock correction) or Centimeter Level (0.03 nanosecond of clock correction) on the basis that bandwidth meets the demands.
Two, broadcast bandwidth requirement and reduce greatly
For the location product of broadcasting, broadcasting bandwidth and truncated error just is the contradiction point, and for complete track clock correction data, when guaranteeing millimetre-sized truncated error, the bandwidth that need broadcast is just bigger.In wide area real-time accurate navigation system, use geostationary satellite to position the issue of product, it is broadcast bandwidth and is no more than 1Kb, wherein also will reserve the part bandwidth in order to broadcast ionosphere product and redundant check information.Therefore, it is most important to broadcast the compression of data.
" big fractional part " is to be calculated by broadcast ephemeris in this method, so the bandwidth of its actual needs is by " fractional part " shared data bits decision.Data are actually hundred meters following data in position after treatment: if be that truncated error requires then single component data only need take 16 data bit with 1 millimeter; If be that truncated error requires then single component data only need take 13 data bit with 1 centimetre, with single epoch 32 satellites be example, out of Memory such as deduction time, consider that defending asterisk takies 6 data bit, then need the bandwidth of broadcasting of 280 bytes and 232 bytes respectively, reduced greatly broadcasting the requirement of bandwidth.
Three, guarantee to locate reliability of products
Traditional when broadcasting difference information as forms such as RTCA, broadcast bandwidth in order to reduce, broadcast the difference of the track clock correction of broadcast ephemeris, its orbit parameter is to add the differential correcting number by broadcast ephemeris result of calculation, but, will make precision positioning product precision reduce or can't use when broadcasting end and receiving terminal when existing broadcast ephemeris to upgrade asynchronous or broadcast ephemeris to calculate the algorithm software of satellite orbit and the inconsistent situation of truncated error.For the inventive method, need not strictness compares by data the length of time, only need broadcast end and in adjacent 6 hours, ephemeris be arranged with receiving terminal, different ephemeris piece result of calculation differences are only at meter level, can not have influence on the matching process of " big number " part, therefore, can recover fully to broadcast the track clock correction parameter that end calculates, not lose any precision by the method for " big number calculates; decimal is replaced ".
Four, shorten initialization time
Since broadcast ephemeris intrinsic characteristic, after the user starts shooting, receive complete broadcast ephemeris and need 30 seconds time, for addressing this problem, some are broadcast end and can issue the user at the ephemeris that start the time will last time be stored and use, if adopt the differential correcting digital modeling, will there be the unmatched problem of ephemeris of last joint existence like this.From the positioning requirements of decimeter grade, must obtain in 30 seconds-59 seconds could begin the location behind the new almanac data.Adopt the inventive method, when start blanking time (start constantly relatively unused time last time) less than 6 hours, and when old broadcast ephemeris calculating track clock correction of upgrading and Precise Orbit clock correction more still can satisfy in 30 meters, old broadcast ephemeris can satisfy the requirement that precision positioning recovers required " big number " equally, can not take the time that obtains new broadcast ephemeris into account and realizes initialization.
Description of drawings
Fig. 1 is the flow chart of broadcasting of hundred meters following numerical value in position of the inventive method server end.
Fig. 2 is the recovery flow chart of the inventive method user side precision positioning product.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
The broadcasting method of real-time accurate satellite positioning product mainly splits into satellite fix information up and down hundred meters positions " big number " and " decimal " by server end; " decimal " that user side is broadcast by the next server of broadcast ephemeris acquisition " big number " and reception recovers on all four precision positioning product.Wherein server end is broadcast flow process as shown in Figure 1, and user side recovers flow process as shown in Figure 2.Concrete implementation step is as follows:
(1) server carries out quality inspection to the precision positioning product that observation data is obtained in current epoch, if repeating step (1) when next epoch is not passed through in check; If upcheck, then enter step (2);
(2) server intercepting Precise Orbit information ORB
PreAnd clock correction information CLK
PreHundred meters following numerical value in position, and this numerical value broadcast to user side as the differential correcting number;
(3) user side receives Precise Orbit information ORB
PreAnd clock correction information CLK
PreHundred meters following numerical value in position, add the satellite-orbit information ORB that synchronization calculates from broadcast ephemeris
Brd1And clock correction information CLK
Brd1Hundred meters positions and above numerical value, be combined into complete precision positioning product initial value, comprise orbit information ORB
Pre0And clock correction information CLK
Pre0
(4) user side carries out quality inspection to precision positioning product initial value, if check is not passed through, then proofreaies and correct Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0Hundred meters positions; If upcheck, then obtain the end value of precision positioning product.
Quality inspection described in the step (1) is the Precise Orbit information ORB that will obtain
PreAnd clock correction information CLK
PreThe orbit information ORB that from broadcast ephemeris, calculates with synchronization
BrdAnd clock correction information CLK
BrdUtilize following formula to compare, wherein C represents the light velocity,
ΔORB＝|ORB
pre-ORB
brd|
ΔCLK＝|CLK
pre-CLK
brd|×C
If Δ ORB, Δ CLK are greater than 30.0, then check is not passed through; If Δ ORB, Δ CLK then upcheck smaller or equal to 30.0.
Quality inspection described in the step (4) is with Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0The satellite-orbit information ORB that from broadcast ephemeris, calculates with synchronization
Brd1And clock correction information CLK
Brd1Utilize following formula to compare, wherein C represents the light velocity,
ΔORB0＝|ORB
pre0-ORB
brd1|
ΔCLK0＝|CLK
pre0-CLK
brd1|×C
If Δ ORB
0, Δ CLK
0Greater than 30.0, then check is not passed through; If number Δ ORB
0, Δ CLK
0Smaller or equal to 30.0, then upcheck.
Described in the step (4) to Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0To proofread and correct be that the numerical value on hundred meters positions is added 1 or subtract 1 in hundred meters positions, to satisfy Δ ORB
0, Δ CLK
0Requirement smaller or equal to 30.0.
Below in conjunction with embodiment the inventive method is further described.Present embodiment adopts 0: 0: 0.0 on the 28th January in 2009, and No. 2 satellite precise orbit X component is an example.It is as follows,
One. server
Obtaining Precise Orbit numerical value is: X precise=13888099.393m.
The first step: the satellite position X component that in broadcast ephemeris, calculates synchronization: Xbroadcast=13888101.188m;
Second the step: quality inspection, with above-mentioned both ask poor dX=1.795m＜30m, both differences meet the requirements, quality inspection is passed through;
The 3rd step: the Precise Orbit numerical value that obtains certainly intercepts hundred meters following numerical value in position and is converted to millimeter and is unit, sends X send=99393mm=X right with integer form.
Two. user side
Receive hundred meters position following numerical value X right=99393mm of Precise Orbit clock correction.
The first step: calculate the track clock correction information of synchronization and extract hundred meters positions and above numerical value Xbroadcast1=13888101.588m from the broadcast ephemeris clock; X left=138881;
Second step: combination obtains accurate satellite fix product initial value Xprecise0=13888199.393m;
The 3rd step: Xprecise0 and Xbroadcast1 are asked poor, Xdif=Xprecise0-Xbroadcast1=97.805m＞30m.Check is not passed through, and needs hundred meters positions of corrected X precise0, therefore, here hundred meters bit value should be subtracted 1, can satisfy | Xdif|＜30, obtain after the Xprecise0 after proofreading and correct made up once more: Xprecise1=13888099.393m, this value is the end value of Precise Orbit X component.
Claims (5)
1. the broadcasting method of real-time accurate satellite positioning product, described precision positioning product comprises Precise Orbit information ORB
PreAnd clock correction information CLK
Pre, it is characterized in that this method may further comprise the steps:
(1) server carries out quality inspection to the precision positioning product that obtains in current epoch, if repeating step (1) when next epoch is not passed through in check; If upcheck, then enter step (2);
(2) server intercepting Precise Orbit information ORB
PreAnd clock correction information CLK
PreHundred meters following numerical value in position, and this numerical value broadcast to user side;
(3) user side receives Precise Orbit information ORB
PreAnd clock correction information CLK
PreHundred meters following numerical value in position, add the satellite-orbit information ORB that synchronization calculates from broadcast ephemeris
Brd1And clock correction information CLK
Brd1Hundred meters positions and above numerical value, be combined into complete precision positioning product initial value, comprise orbit information ORB
Pre0And clock correction information CLK
Pre0
(4) user side carries out quality inspection to precision positioning product initial value, if check is not passed through, then proofreaies and correct Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0Hundred meters positions; If upcheck, then obtain the end value of precision positioning product.
2. the broadcasting method of real-time accurate satellite positioning product according to claim 1 is characterized in that: the described server of this method be meant have the generation of precision positioning product, the end of broadcasting that function is broadcast in broadcast ephemeris reception, data processing, data; Described user side be meant have the broadcast ephemeris reception, receiving terminal that data processing, server are broadcast the Data Receiving function.
3. the broadcasting method of real-time accurate satellite positioning product according to claim 1, it is characterized in that: the quality inspection described in the step (1) is the Precise Orbit information ORB that will obtain
PreAnd clock correction information CLK
PreThe orbit information ORB that from broadcast ephemeris, calculates with synchronization
BrdAnd clock correction information CLK
BrdUtilize following formula to compare, wherein C represents the light velocity,
ΔORB＝|ORB
pre-ORB
brd|
ΔCLK＝|CLK
pre-CLK
brd|×C
If Δ ORB, Δ CLK are greater than 30.0, then check is not passed through; If Δ ORB, Δ CLK then upcheck smaller or equal to 30.0.
4. the broadcasting method of real-time accurate satellite positioning product according to claim 1, it is characterized in that: the quality inspection described in the step (4) is with Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0The satellite-orbit information ORB that from broadcast ephemeris, calculates with synchronization
Brd1And clock correction information CLK
Brd1Utilize following formula to compare, wherein C represents the light velocity,
ΔORB0＝|ORB
pre0-ORB
brd1|
ΔCLK0＝|CLK
pre0-CLK
brd1|×C
If Δ ORB0, Δ CLK0 are greater than 30.0, then check is not passed through; If number Δ ORB0, Δ CLK0 then upcheck smaller or equal to 30.0.
5. the broadcasting method of real-time accurate satellite positioning product according to claim 4 is characterized in that: described in the step (4) to Precise Orbit information ORB
Pre0And clock correction information CLK
Pre0To proofread and correct be that the numerical value on hundred meters positions is added 1 or subtract 1 in hundred meters positions, to satisfy Δ ORB0, Δ CLK0 smaller or equal to 30.0 requirement.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105182374A (en) * | 2015-08-28 | 2015-12-23 | 山东鼎成卫星导航定位技术有限公司 | Method and system based on big dipper short message precision track and clock correction broadcasting |
| CN108152843A (en) * | 2017-11-15 | 2018-06-12 | 羲和时空（武汉）网络科技有限公司 | A kind of clock correction data fusion computational methods of additional approximate steady datum |
| CN108761508A (en) * | 2018-03-09 | 2018-11-06 | 羲和时空（武汉）网络科技有限公司 | A kind of satellite position restores with satellite clock correction and track clock error correction number representation method |
| CN112711048A (en) * | 2020-12-15 | 2021-04-27 | 中山大学 | SSR transmission method and high-precision positioning system based on Beidou third RDSS short message |
| CN114051739A (en) * | 2021-09-29 | 2022-02-15 | 北京小米移动软件有限公司 | Method and device for reporting and receiving position related information |
| WO2022094898A1 (en) * | 2020-11-05 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle positioning method and positioning apparatus, and unmanned aerial vehicle and mobile platform |
| CN116667856A (en) * | 2023-08-01 | 2023-08-29 | 齐鲁空天信息研究院 | PPP-RTK product SSR deconstructing recoding method and device |
| CN116990834A (en) * | 2023-07-07 | 2023-11-03 | 中国科学院空天信息创新研究院 | Real-time satellite precise orbit product precision evaluation method and device and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105182374A (en) * | 2015-08-28 | 2015-12-23 | 山东鼎成卫星导航定位技术有限公司 | Method and system based on big dipper short message precision track and clock correction broadcasting |
| CN108152843A (en) * | 2017-11-15 | 2018-06-12 | 羲和时空（武汉）网络科技有限公司 | A kind of clock correction data fusion computational methods of additional approximate steady datum |
| CN108152843B (en) * | 2017-11-15 | 2019-11-19 | 羲和时空（武汉）网络科技有限公司 | A kind of clock deviation data fusion calculation method of additional approximate steady datum |
| CN108761508A (en) * | 2018-03-09 | 2018-11-06 | 羲和时空（武汉）网络科技有限公司 | A kind of satellite position restores with satellite clock correction and track clock error correction number representation method |
| WO2022094898A1 (en) * | 2020-11-05 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle positioning method and positioning apparatus, and unmanned aerial vehicle and mobile platform |
| CN112711048A (en) * | 2020-12-15 | 2021-04-27 | 中山大学 | SSR transmission method and high-precision positioning system based on Beidou third RDSS short message |
| CN112711048B (en) * | 2020-12-15 | 2023-07-04 | 中山大学 | SSR transmission method and high-precision positioning system based on Beidou No. three RDSS short message |
| CN114051739A (en) * | 2021-09-29 | 2022-02-15 | 北京小米移动软件有限公司 | Method and device for reporting and receiving position related information |
| CN116990834A (en) * | 2023-07-07 | 2023-11-03 | 中国科学院空天信息创新研究院 | Real-time satellite precise orbit product precision evaluation method and device and electronic equipment |
| CN116667856A (en) * | 2023-08-01 | 2023-08-29 | 齐鲁空天信息研究院 | PPP-RTK product SSR deconstructing recoding method and device |
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