CN103076615A - Ionized layer delaying estimation method of Beidou navigation satellite system and corresponding receiving device - Google Patents
Ionized layer delaying estimation method of Beidou navigation satellite system and corresponding receiving device Download PDFInfo
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Abstract
The invention provides an ionized layer delaying estimation method of a Beidou navigation satellite system. The method comprises the followings steps: a step of roughly calculating longitude and latitude: enabling a Beidou navigation satellite receiver to calculate a satellite position and a pseudo-range according to a satellite ephemeris to receive rough longitude and latitude position information of the receiver; a step of calculating longitude and latitude of a breakthrough point: calculating longitude and latitude information of the breakthrough point of a participating positioning satellite according to the obtained rough longitude and latitude position information and participating positioning satellite position information; an ionized layer delaying correction step: determining a grid point containing the breakthrough point and ionized layer correction delaying information containing the breakthrough point according to grid ionized layer delaying information sent by a GEO (Geostationary Earth Orbit) satellite of the Beidou navigation satellite system and the longitude and latitude information of the breakthrough point; and a step of calculating accurate longitude and latitude: revising an observation equation of the Beidou navigation satellite receiver according to the ionized layer correction delaying information of the breakthrough point and calculating the accurate longitude and latitude. With the adoption of the technical scheme, the grid ionized layer delaying information of a GEO satellite ephemeris of the Beidou navigation satellite system can be used for reducing ionized layer errors and the navigation positioning precision is improved.
Description
Technical field
The present invention relates to a kind of triones navigation system ionosphere delay method of estimation and corresponding receiving trap, especially a kind of method and corresponding receiving trap of revising the navigator fix result according to ionosphere model parameters and the grid ionosphere information of Beidou satellite navigation system navigation message.
Background technology
Ionosphere is that the earth sky is apart from the atmospheric envelope of ground 50 ~ 1000km, be subjected to solar ultraviolet, X ray and high energy particle effect, the atmospheric molecule that this is regional and atomic ionization form a large amount of free electrons and positive ion, travel path bent when electromagnetic wave signal passed, and velocity of propagation changes.Showing after deliberation, at big-dipper satellite Dao boat Xi Tong ﹝ BeiDou(or BD or COMPASS) among the Navigation Satellite System ﹞, ionosphere delay is one of main error source that affects bearing accuracy.The ionization time-delay is generally about several meters, but when Sunspot Activities strengthens, electron density in the ionosphere can raise, this is so that also thereupon increase of ionosphere time-delay, its value can reach tens meters even tens meters, and the method for processing ionosphere delay commonly used has double frequency correction method, half-sum to correct method, differential correcting method and ionospheric model method etc.For the single-frequency satellite navigation receiver, can not measure the size of ionosphere time-delay, can only estimate, proofread and correct ionospheric delay by ionospheric model method modelling by some mathematical methods.
Single frequency receiving general using Klobuchar model was estimated in the local time
The time ionosphere time-delay size, the mathematic(al) representation of Klobuchar ionosphere delay model is:
In the formula,
Be the vertical zenith delay in ionosphere, unit is second,
Receiver to the local time at satellite line and ionosphere intersection point place (unit for second, span is 0 ~ 86400),
The amplitude of cosine function,
Being the cosine function cycle, delays time in the ionosphere that this model is described between midnight to morning with a constant, and describes the ionosphere time-delay situation of change on daytime with half cosine function on this basis.This model hypothesis is 14 o'clock local times, and namely when 2 pm or 50400 seconds, it is the most vigorous that the atmospheric molecule in the ionosphere decomposes under solar radiation, and corresponding ionosphere time-delay also reaches maximal value.
With
Value calculated by the ionosphere delay model parameters value that satellite provides in the navigation message that it is broadcast, specifically resolve into:
Wherein, parameter
,
,
,
,
,
,
,
It is the parameters value of the ionosphere delay model that in the navigation message that it is broadcast, provides of satellite.
The geodetic latitude of ionosphere point of puncture, unit be half cycle (
), when the ionosphere point of puncture refers to signal from satellite transmission to receiver and the point that intersects of ionospheric average height face, P point as shown in Figure 1 is the ionosphere point of puncture, the geodetic latitude computing formula of ionosphere point of puncture is:
Wherein,
Be user's geodetic latitude, unit is radian,
Be satellite aximuth, unit is radian,
Be the earth's core subtended angle of user and point of puncture, unit is radian, and its computing formula is:
Wherein,
Be earth radius, value is 6378 kilometers;
Be elevation of satellite; Unit is radian;
Be layer height, value is 375 kilometers.
Ionosphere time-delay on zenith direction take second as unit of formula (1) output
, multiply by again a coefficient relevant with frequency
Just can calculate the suffered ionosphere time-delay of satellite-signal
,
Be a function relevant with frequency, for Beidou satellite navigation system, frequency is got
Frequency.
The concrete estimation flow process of Klobuchar model assessment ionosphere delay as shown in Figure 1.After the step 101 estimation beginning, step 102 Big Dipper navigation neceiver demodulates ionosphere model parameters, i.e. parameter
,
,
,
,
,
,
,
Step 103 calculates the amplitude of cosine function again according to the Klobuchar appraising model
With the cosine function cycle
, obtain the ionosphere time-delay of zenith direction
, in step 104, multiply by coefficient
Obtain actual ionosphere time-delay, step 105 finishes the ionosphere estimation.
The ionosphere time-delay that this moment, estimation obtained
Can be used as known quantity brings in the observation equation of Beidou satellite navigation signal and participates in positioning calculation.Input data for the different spaces span, average and the variance of Klobuchar appraising model error are substantially constant, its space distribution shows as being alternately distributed of maximum value or minimum value zone, lack the less and mild zone of error, and the Klobuchar model is a kind of fitting function form on existing model realization, although in it is realized, considered phase place, amplitudes etc. with the change of time and place, this fit procedure itself has just reduced the precision that realizes, and the time-delay of supposition Nighttime ionosphere is constant, also can cause larger ionospheric error, limit its application of closing in many positioning requirements high field.
Summary of the invention
The purpose of this invention is to provide and a kind ofly can receive GEO(Geostationary Earth Orbit at the Beidou satellite navigation receiver, ionosphere delay estimation method when geostationary orbit) satellite participates in the location can utilize grid points ionosphere correcting information correction ionospheric error that the GEO satellite broadcasts to improve the bearing accuracy of Beidou satellite navigation receiver.
The present invention is achieved in that
A kind of triones navigation system ionosphere delay method of estimation, described method comprise, rough calculation of longitude ﹠ latitude step, and Big Dipper navigation neceiver is according to satellite ephemeris Calculation of Satellite position and pseudorange, to obtain the rough longitude and latitude positional information of receiver; Breakthrough point calculation of longitude ﹠ latitude step according to the described rough longitude and latitude positional information that obtains and participation position location satellite positional information, is calculated the breakthrough point latitude and longitude information that participates in position location satellite; Step is revised in the ionosphere time-delay, according to graticule mesh ionosphere delay information and the described breakthrough point latitude and longitude information that the GEO satellite of the described Beidou satellite navigation system that receives sends, determine to comprise the grid points of breakthrough point and delayed data is corrected in the ionosphere of described breakthrough point; Accurate calculation of longitude ﹠ latitude step corrects the observation equation of the described Big Dipper navigation neceiver of delayed data correction according to the ionosphere of described breakthrough point, calculate accurate accurately longitude and latitude.
Further, revise in the step in the time-delay of described ionosphere, calculate the ionosphere of described breakthrough point by the grid points interpolate value and correct delayed data.
Further, the graticule mesh ionosphere information that described GEO satellite sends covers east longitude 70-145 degree, the zone between the north latitude 10-55 degree.
The present invention also providesA kind of receiving trap of described ionosphere delay method of estimation.
Further, revise in the step in the time-delay of described ionosphere, calculate the ionosphere of described breakthrough point by the grid points interpolate value and correct delayed data.
Further, the graticule mesh ionosphere information that described GEO satellite sends covers east longitude 70-145 degree, the zone between the north latitude 10-55 degree.
After adopting technical scheme of the present invention, can utilize the graticule mesh ionosphere information reduction ionospheric error of the GEO satellite ephemeris of triones navigation system, improve navigation and positioning accuracy.
Description of drawings
Fig. 1 is the ionosphere pierce point schematic diagram;
Fig. 2 is Klobuchar model assessment Big Dipper navigation neceiver ionosphere time-delay process flow diagram;
Fig. 3 is Big Dipper navigation neceiver estimation ionosphere time-delay process flow diagram of the present invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
Triones navigation system is by MEO(Medium Earth Orbit, Medium-Earth Orbit) satellite, the IGSO(inclination circular orbit earth is synchronous) satellite and GEO satellite composition, each branch road of each satellite is all broadcast navigation information, and the GEO satellite is broadcast the integrity of satellite-signal simultaneously, difference information, graticule mesh ionosphere information, graticule mesh ionosphere information contains ionospheric grid point vertical delay parameter and ionosphere grid points vertical delay error extension, if Big Dipper navigation neceiver can receive graticule mesh ionosphere information, just can reduce greatly ionospheric error, improve bearing accuracy.
The ionospheric grid dot information of Beidou satellite navigation system comprises net point vertical delay parameter, system is with east longitude 70-145 degree, zone between the north latitude 10-55 degree is divided by longitude and latitude 5 degree * 5 degree, form 160 net points, the net point numbering is arranged according to latitude and longitude information, and table 1 is part net point number table signal table.
Table 1 Beidou satellite navigation system GEO satellite portion net point number table
Fig. 2 is Big Dipper navigation neceiver estimation ionosphere time-delay process flow diagram of the present invention, and concrete estimation steps is:
Step 201: Big Dipper navigation neceiver receives satellite navigation message, begins to estimate the ionosphere time-delay;
Step 202: Big Dipper navigation neceiver is according to satellite ephemeris Calculation of Satellite position and pseudorange, to obtain the rough longitude and latitude positional information of receiver;
Step 203: the latitude and longitude information that goes out breakthrough point according to the rough latitude and longitude information of receiver of calculating in the step 202 and participation position location satellite location positioning;
Step 204: the vertical ionosphere correcting information of being determined to comprise grid points and the grid points of breakthrough point by the latitude and longitude information of breakthrough point;
Step 205: utilize interpolation method to determine the vertical ionosphere correcting information of receiver;
Step 206: multiply by COEFFICIENT K (f) and obtain the time-delay of actual electrical absciss layer;
Step 207: according to the observation equation of the receiver actual electrical absciss layer deferred message correction Beidou receiver that calculates in the step 206;
Step 208: finish the ionospheric corrections process.
Said interpolation method can be multiple interpolation method in the step 205, all should be within protection scope of the present invention so long as utilize the vertical ionosphere correcting information of grid points to remove to calculate vertical ionosphere correcting information.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. a triones navigation system ionosphere delay method of estimation is characterized in that, described method comprises,
Rough calculation of longitude ﹠ latitude step, Big Dipper navigation neceiver is according to satellite ephemeris Calculation of Satellite position and pseudorange, to obtain the rough longitude and latitude positional information of receiver;
Breakthrough point calculation of longitude ﹠ latitude step according to the described rough longitude and latitude positional information that obtains and participation position location satellite positional information, is calculated the breakthrough point latitude and longitude information that participates in position location satellite;
Step is revised in the ionosphere time-delay, according to graticule mesh ionosphere delay information and the described breakthrough point latitude and longitude information that the GEO satellite of the described Beidou satellite navigation system that receives sends, determine to comprise the grid points of breakthrough point and delayed data is corrected in the ionosphere of described breakthrough point;
Accurate calculation of longitude ﹠ latitude step corrects the observation equation of the described Big Dipper navigation neceiver of delayed data correction according to the ionosphere of described breakthrough point, calculate accurate accurately longitude and latitude.
2. ionosphere delay method of estimation as claimed in claim 1 is characterized in that, revises in the step in the time-delay of described ionosphere, calculates the ionosphere of described breakthrough point by the grid points interpolate value and corrects delayed data.
3. ionosphere delay method of estimation as claimed in claim 2 is characterized in that, the graticule mesh ionosphere information that described GEO satellite sends covers east longitude 70-145 degree, the zone between the north latitude 10-55 degree.
4. receiving trap that comprises the described ionosphere delay method of estimation of claim 1.
5. ionosphere delay method of estimation as claimed in claim 4 is characterized in that, revises in the step in the time-delay of described ionosphere, calculates the ionosphere of described breakthrough point by the grid points interpolate value and corrects delayed data.
6. ionosphere delay method of estimation as claimed in claim 5 is characterized in that, the graticule mesh ionosphere information that described GEO satellite sends covers east longitude 70-145 degree, the zone between the north latitude 10-55 degree.
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| CN103353600A (en) * | 2013-08-05 | 2013-10-16 | 东莞市泰斗微电子科技有限公司 | Information processing method for satellite navigation system, information processing module and terminal |
| CN103389501A (en) * | 2013-08-05 | 2013-11-13 | 东莞市泰斗微电子科技有限公司 | Method for processing auxiliary positioning information, information processing module and terminal |
| CN103424751A (en) * | 2013-08-05 | 2013-12-04 | 东莞市泰斗微电子科技有限公司 | Positioning auxiliary information processing method, information processing module and terminal |
| CN108376477A (en) * | 2017-05-02 | 2018-08-07 | 山东大学 | Bus or train route cooperates with public transport precision data fusion center system and working method |
| CN108872932A (en) * | 2018-05-03 | 2018-11-23 | 中国人民解放军战略支援部队信息工程大学 | The direct positioning result method for correcting error of over-the-horizon target neural network based |
| CN110456391A (en) * | 2018-05-08 | 2019-11-15 | 华北电力大学（保定） | A kind of single station more star hardware delay calculation methods of multisystem based on the constraint of Beidou GEO satellite |
| CN110794433A (en) * | 2019-09-24 | 2020-02-14 | 中国科学院国家天文台 | Vector ionosphere delay correction method based on Beidou system |
| CN111175789A (en) * | 2020-01-16 | 2020-05-19 | 中国民用航空总局第二研究所 | Ionized layer anomaly monitoring method, device and system of foundation enhancement system |
| CN111208543A (en) * | 2020-03-08 | 2020-05-29 | 湖南跨线桥航天科技有限公司 | Quick positioning method and system by utilizing GEO satellite of BDS (brain-based data service) system |
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| CN108376477A (en) * | 2017-05-02 | 2018-08-07 | 山东大学 | Bus or train route cooperates with public transport precision data fusion center system and working method |
| CN108872932A (en) * | 2018-05-03 | 2018-11-23 | 中国人民解放军战略支援部队信息工程大学 | The direct positioning result method for correcting error of over-the-horizon target neural network based |
| CN110456391B (en) * | 2018-05-08 | 2023-02-24 | 华北电力大学（保定） | Single-station multi-system multi-satellite hardware delay calculation method based on Beidou GEO satellite constraint |
| CN110456391A (en) * | 2018-05-08 | 2019-11-15 | 华北电力大学（保定） | A kind of single station more star hardware delay calculation methods of multisystem based on the constraint of Beidou GEO satellite |
| CN110794433A (en) * | 2019-09-24 | 2020-02-14 | 中国科学院国家天文台 | Vector ionosphere delay correction method based on Beidou system |
| CN110794433B (en) * | 2019-09-24 | 2021-12-07 | 中国科学院国家天文台 | Vector ionosphere delay correction method based on Beidou system |
| CN111175789A (en) * | 2020-01-16 | 2020-05-19 | 中国民用航空总局第二研究所 | Ionized layer anomaly monitoring method, device and system of foundation enhancement system |
| CN111208543A (en) * | 2020-03-08 | 2020-05-29 | 湖南跨线桥航天科技有限公司 | Quick positioning method and system by utilizing GEO satellite of BDS (brain-based data service) system |
| CN111208543B (en) * | 2020-03-08 | 2022-05-10 | 湖南跨线桥航天科技有限公司 | Quick positioning method and system by utilizing GEO satellite of BDS (brain-based data service) system |
| CN113671534A (en) * | 2020-05-15 | 2021-11-19 | 华为技术有限公司 | Positioning compensation method, vehicle-mounted unit, medium and system |
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