CN104035107A - Differential information transmitting method of satellite navigation satellite navigation receiver and corresponding receiver - Google Patents
Differential information transmitting method of satellite navigation satellite navigation receiver and corresponding receiver Download PDFInfo
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- 238000004891 communication Methods 0.000 abstract description 7
- 238000012937 correction Methods 0.000 description 28
- 230000008859 change Effects 0.000 description 12
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- 230000033001 locomotion Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000005436 troposphere Substances 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000005433 ionosphere Substances 0.000 description 2
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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Abstract
The invention discloses a differential information transmitting method of a satellite navigation satellite navigation receiver and a corresponding receiver. The differential information is used for improving the location or time service precision of the receiver. The method comprises the steps: a step of acquiring the position, acquiring the current position information of the receiver; a step of calculating the distance: calculating the distance between the current position information and a differential reference station; a step of setting transmission frequency: receiving the transmission frequency of the differential information of the receiver according to the distance, and acquiring the differential information according to the transmission frequency. By adopting the technical way, the broadcasting frequency of the differential information can be reduced by the timeliness of GNSS (Global Navigation Satellite System) differential information, the transmission flow of the differential information can be reduced, the communication cost can be reduced, and the communication pressure of a server in a reference station can be greatly reduced.
Description
Technical field
The present invention relates to a kind of satellite navigation receiver difference information transmission method and corresponding receiver.
Background technology
GNSS(Global Navigation Satellite System, GLONASS (Global Navigation Satellite System)) be the general name of all navigational satellite systems in a global range, it comprises GPS(Global Positioning System, american global positioning system), GLONASS(Russia GLONASS navigational satellite system), Galileo(European galileo navigational satellite system), BDS(China Big Dipper navigational satellite system) etc., all navigational satellite systems above, being all intended to round-the-clockly provides satellite navigation positioning service for user.
At present, the station-keeping mode of the most general satellite receiver is: ground receiving end receives the satellite-signal that Navsat is broadcast, the positional information of resolving current ground receiving end after enough data messages is collected in demodulation, generally at least need to receive 4 usable satellite signals, ground receiving end is shown to user after locating information is resolved in this locality.
In the autonomous station-keeping mode of this satellite navigation receiver, there is satellite orbital error (approximately 2 meters), satellite clock error (approximately 3 meters), ionospheric error (approximately tens meters), tropospheric error (approximately 2 ~ 20 meters) and several main errors of receiver noise, cause positioning precision generally more than 10 meters.
Satellite navigation system ground station continues observation satellite, satellite transit state is monitored, after collecting satellite transit state parameter, it carries out matching, obtain kepler parameters and the Perturbation parameter of satellite orbit, then by the up satellite that sends to of land station, by satellite, with the form of navigation message, broadcast ground again, because parameter is that matching obtains, have certain error.
Atomic clock as time and frequency signal source on satellite exists inevitable time deviation and frequency drift, satellite clock correction is one of main error source in satellite navigation system, in all satellite clocks, can observe the multiple random noise that power rate spectrum distributes that is, what wherein account for leading role is frequency modulation random walk noise, frequency modulation flicker noise, frequency modulation white noise, phase modulation flicker noise and five kinds of power rate type noises of phase modulation white noise, and these noises are discontented with steadily ergodic condition of foot substantially, and their standard variance is not restrained.
Ionosphere is that atom, the interaction of molecules due to solar radiation and earth upper atmosphere makes atmosphere that the atmospheric envelope that ionization forms occur, height is in 60 ~ 1000km left and right, GNSS satellite navigation signals is when through ionosphere, its velocity of propagation can change, intensity of variation depends primarily on ionospheric electron density and signal frequency, and the travel path of signal also can occur slight curving.Ionospheric state with round the clock, season and solar activity phase etc. produce cyclical variation, also exist aperiodicity simultaneously and change, as the disturbance causing due to human factor etc.
Troposphere is positioned at the lowermost layer of atmosphere, has concentrated the Water Vapor Quality more than quality and 90% of approximately 75% atmosphere.Troposphere contacts with ground, has very strong convection action.The main weather phenomenon such as wind, rain, cloud, mist, snow, all appears in this layer, and tropospheric Atmospheric components, except containing various elemental gas, also contain the impurity such as water droplet, ice crystal, dust, and they produce a very large impact electromagnetic wave propagation.Tropospheric height is different because of latitude, in low latitudes average height, is 17～18 kilometers, 10～12 kilometers of mid latitudes average out to, and 8～9 kilometers of polar region average out to, and summer is higher than winter.When satellite navigation signals passes through troposphere, on travel path, can produce crooked and two kinds of effects of delay, make measuring distance produce error.Tropospheric error belongs to common error, and rover station can be eliminated tropospheric error by base station in theory, but works as the discrepancy in elevation of rover station and base station over 6km, if pseudorange residual error is not revised, the height variation that tropospheric delay causes can reach 5 meters.
In order to obtain more high-precision navigator fix result, ground receiving end and remote server are mutual, by communication link, from server, obtain locating relevant difference information, utilize difference information correction to realize hi-Fix, GNSS differential position system composition frame chart as shown in Figure 1.GNSS differential position system 100 comprises base station 101 and GNSS receiver 106, base station is comprising one or more and is being arranged on GNSS reference receiver 102 on known coordinate location point as base station reference receiver, reference station server 103 receives the data that GNSS reference receiver 102 sends, by data processing centre (DPC) 104, carry out calculation process, form difference information 105, then difference information 105 is broadcast to the receiver user 106 that is positioned at differential service scope, to improve the positioning precision of receiver user.
Differential position system based on pseudorange is mainly divided into based on pseudorange correction and pseudorange correction rate of change, as RTCM(Radio Technical Commission for Maritime services, the international ocean shipping cause radiotelegraphy council) difference of 2.3 formal definitions location and the location of the difference based on pseudorange, as RTCM3.2 form.
In the difference position fixing process based on pseudorange, its cardinal principle is to utilize the spatial coherence between receiver and base station to eliminate satellite clock error, ionospheric error and tropospheric error, receiver is nearer apart from base station, its spatial coherence is larger, error reduce and elimination effect more obvious, simultaneously because satellite clock error is along with the time can change, ionospheric error and tropospheric error are along with the variation of time also can change, when therefore, receiver uses difference information, there are to certain requirement time and space.
Difference position fixing process based on pseudorange correction and pseudorange correction rate of change as shown in Figure 2.Receiver passes through data link, receive the standard format text that base station is broadcast, in this text, mainly provide at the pseudorange correction PRC(Pseudorange Correction with reference to each satellite of the moment, pseudorange correction) and the rate of change RRC(Range Rate Correction of pseudorange correction, pseudorange rates correction) 201, receiver calculates after pseudorange 202, according to pseudorange and pseudorange rates, the satellite pseudorange observing is corrected to 203, carry out again PVT and resolve 204, can obtain pseudo range difference positioning result 205.
Difference position fixing process based on moment epoch base station pseudorange as shown in Figure 3.Differential received machine passes through data link, receive the standard format text that base station is broadcast, this text mainly provides raw pseudo range observed reading and the base station accurate coordinates 301 with reference to each satellite of moment epoch, differential received machine utilizes the satellite ephemeris self receiving to calculate the volume coordinate of this each satellite of moment epoch simultaneously, receiver calculates base station to the geometric distance of satellite according to the volume coordinate of satellite and base station coordinate like this, then subtract each other and obtain pseudorange correction 302 to the pseudorange of base station with each satellite of this epoch of broadcasting, last differential received machine adds that to the pseudorange 303 of each satellite the pseudorange correction that this satellite is corresponding obtains the pseudorange 304 after correction according to self recording, carry out again PVT and resolve 305, finally export NMEA positioning result 306.
In differential position system, different differential systems is all based on this thinking, by the enhancing of GNSS system is improved to GNSS positioning performance, receiver need to utilize these enhancement service and make ordinatedly supplementing and adjusting of some design of hardware and software, and differential system increases its cost to the raising of receiver processing power and processing speed requirement, and power consumption increases, simultaneously, receiver needs the difference information at real-time reception difference station, produces larger data traffic, has increased user cost.Therefore, along with the increasingly extensive use of positioning service and more and more higher location requirement, must there is a kind of new difference station-keeping mode, can realize high-precision positioning result, can reduce again the flow of terminal user and server, reduce communication cost.
Summary of the invention
The object of this invention is to provide a kind of satellite navigation receiver that receives differential reference station difference information, by utilizing the ageing transmission frequency that reduces difference information of the difference information that differential reference station broadcasts to reduce the delivery flow rate of difference information.
To achieve these goals, the invention provides a kind of satellite navigation receiver difference information transmission method, described difference information is for improving location or the time service precision of receiver, and described method comprises, position acquisition step, obtains the current location information of described receiver; Apart from calculation procedure, calculate the distance of described current location information and differential reference station; Transmission frequency setting steps, arranges the transmission frequency of described receiver difference information according to described distance, described receiver obtains described difference information according to described transmission frequency.
Further, described method also comprises, transmission frequency regulating step, and described distance is far away, and described transmission frequency is higher; Described distance is nearer, and described transmission frequency is lower.
Further, described method also comprises, distance range determining step, and described receiver calculates apart from the distance that received described difference information position last time, if described distance exceeds the distance range of setting, again obtains described difference information.
Further, described method also comprises, time range determining step, and described receiver calculated apart from the time that received described difference information last time, if the described time exceeds the time range of setting, again obtained described difference information.
Further, described distance (10km, 30km] during scope, the selected scope of described transmission frequency be (60,180] second/time.
Further, described distance (30km, 60km] during scope, the selected scope of described transmission frequency be (30,60] second/time.
Further, described distance (30km, 60km] during scope, the selected scope of described transmission frequency be (30,60] second/time.
Further, described distance (60km, 100km] during scope, described transmission frequency is for being less than or equal to 1 second/time.
The present invention also provides a kind of satellite navigation receiver of having applied above-mentioned difference information transmission method.
By adopting technological means above, can utilize the ageing frequency of broadcasting that reduces difference information of GNSS difference information, reduce the delivery flow rate of difference information, reduce communications cost, and greatly reduce the communication pressure of reference station server.
Accompanying drawing explanation
Fig. 1 is the difference GNSS block diagram of system of the present invention;
Fig. 2 is the pseudo range difference block diagram based on pseudorange correction and pseudorange correction rate of change;
Fig. 3 is the pseudo range difference block diagram based on pseudorange;
Fig. 4 is the process flow diagram of embodiment six.
Embodiment
At present conventional method is to realize according to the difference information renewal frequency 1Hz of agreement regulation, and once, like this, difference GNSS receiver is revised pseudorange by the renewal per second that receives difference information once in the difference information renewal per second that base station is broadcast.
And in fact, no matter be difference location or the location of the difference based on pseudorange based on pseudorange correction and pseudorange rate of change correction, satellite clock error, ionospheric error, tropospheric error that pseudo range difference technology is eliminated, its error correction values is a slow variable quantity, within a few minutes, generally can not change a lot, therefore, in difference information usable range, pseudo range difference information does not need renewal per second, to reduce information interaction and the communication traffic of receiver and base station, the improved positioning flow based on pseudo range difference is as described below:
Pseudo range difference location GNSS receiver performing step based on pseudorange correction and pseudorange rate of change correction:
1) within the every N of receiver minute, receive first difference information, obtain pseudorange correction PRC(
) and pseudorange rate of change correction RRC(
),
it is reference time epoch that difference information is broadcast in base station;
2) receiver calculates according to the navigation message of self demodulation and temporal information
pseudorange value constantly
;
3) receiver, according to the difference information receiving, calculates
pseudorange correction constantly,
;
4) receiver is 3) in the pseudorange correction that calculates be added to 2) in calculate
on pseudorange value constantly, the pseudorange that obtains revising is
;
5) receiver carries out PVT and resolves;
6) receiver output NMEA information.
Difference location GNSS receiver performing step based on pseudorange:
1) within the every N of receiver minute, receive first difference information, obtain
pseudorange value constantly
;
2) receiver calculates according to the navigation message of self demodulation and temporal information
pseudorange value constantly
;
3) receiver calculates according to ephemeris information
satellite position constantly, according to the difference information receiving, obtain the coordinate figure of base station, calculate
satellite is to the geometric distance of base station constantly
, then with difference information in
(
<200) pseudorange value in the moment subtracts each other,
-
, obtain pseudorange correction
;
4) receiver is 3) in the pseudorange correction that calculates be added to 2) in calculate
on pseudorange value constantly, obtain revised pseudorange value
;
5) receiver carries out PVT and resolves;
6) receiver output NMEA information.
According to description above, in order to reduce flow, the frequency that reduces receiver reception difference information is the most effective, is the embodiment of the present invention below.
Embodiment mono-:
Receiver is fixed every N(1 ~ 600) second receive the difference information of first difference substation, pseudorange is revised, no longer receive difference information in section between at this moment.Normally, the value of N can dynamic-configuration.
Embodiment bis-:
Receiver calculates the movement velocity of self, or from sensor, obtain the velocity information of receiver, then the speed of Negotiation speed decides receiver to receive the frequency of difference information, if receiver motion is very fast, accelerate to receive difference information frequency, if receiver movement velocity is slower, reduce the frequency that receiver receives difference information.Table 1 has illustrated that receiver speed and receiver receive the relation of difference information frequency, can find out that speed is faster, and the frequency of reception is higher.
Table 1 receiver speed and receiver receive the relation of difference information frequency
Embodiment tri-:
Receiver calculates the positional information of self, calculate again the distance of receiver and base station accurate coordinates, then by receiver, from the distance of base station, decide the frequency of receiver reception difference information, if receiver from base station away from, accelerate the frequency that receiver receives difference information, if receiver from base station close to, reduce the frequency that receiver receives difference information.Table 2 has illustrated the relation of the distance between receiver and base station, can find out that the distance between receiver and base station is far away, and the frequency of reception is higher.
Distance between table 2 receiver and base station and receiver receive the relation of difference information frequency
Embodiment tetra-:
Receiver reads the last time that receives difference information, if surpass certain time range apart from current time, as 300 seconds, again receives difference information.
Time range is generally made as 300 seconds, but also can be 200 seconds, and 100 seconds, etc., according to user's demand, set.
Embodiment five:
Receiver reads the last difference information receiver location constantly that receives, if surpass certain distance range apart from current time position, as 1 kilometer, again receives difference information.
Distance range is generally made as 1 kilometer, but also can be 2 kilometers, and 3 kilometers, etc., according to user's demand, set.
Embodiment six:
Fig. 4 is the process flow diagram of the present embodiment.First, step 401, receiver reads the last moment of difference information and the receiver location in this moment of receiving; Step 402, judges whether this moment surpasses default time range apart from current time; Step 403, if surpass Preset Time scope, receives difference information again; Step 404, if do not surpassed, judges whether the receiver location in this moment surpasses default distance range apart from present receiving machine position; Step 405, if surpassed, receives difference information again.
Time range is generally made as 300 seconds, but also can be 200 seconds, 100 seconds etc., according to user's demand, sets.
Distance range is generally made as 1 kilometer, but also can be 2 kilometers, 3 kilometers etc., according to user's demand, sets.
The above example has only been expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. a satellite navigation receiver difference information transmission method, described difference information, for improving location or the time service precision of receiver, is characterized in that, described method comprises,
Position acquisition step, obtains the current location information of described receiver;
Apart from calculation procedure, calculate the distance of described current location information and differential reference station;
Transmission frequency setting steps, arranges the transmission frequency of described receiver difference information according to described distance, described receiver obtains described difference information according to described transmission frequency.
2. satellite navigation receiver difference information transmission method as claimed in claim 1, is characterized in that, described method also comprises, transmission frequency regulating step, and described distance is far away, and described transmission frequency is higher; Described distance is nearer, and described transmission frequency is lower.
3. the satellite navigation receiver difference information transmission method as described in any one in claim 1 to 2, it is characterized in that, described method also comprises, distance range determining step, described receiver calculates apart from the distance that received described difference information position last time, if described distance exceeds the distance range of setting, again obtain described difference information.
4. the satellite navigation receiver difference information transmission method as described in any one in claim 1 to 2, it is characterized in that, described method also comprises, time range determining step, described receiver calculated apart from the time that received described difference information last time, if the described time exceeds the time range of setting, again obtain described difference information.
5. the satellite navigation receiver difference information transmission method as described in any one in claim 1 to 4, is characterized in that, described distance (10km, 30km] during scope, the selected scope of described transmission frequency be (60,180] second/time.
6. the satellite navigation receiver difference information transmission method as described in any one in claim 1 to 4, is characterized in that, described distance (30km, 60km] during scope, the selected scope of described transmission frequency be (30,60] second/time.
7. satellite navigation receiver difference information transmission method as claimed in claim 3, is characterized in that, described method also comprises, described distance range is 1 ~ 3km.
8. satellite navigation receiver difference information transmission method as claimed in claim 4, is characterized in that, described method also comprises, described time range is 100 ~ 300 seconds.
9. a satellite navigation receiver difference information transmission method, described difference information is for improving location or the time service precision of receiver, it is characterized in that, described method comprises, described receiver reads the last moment of difference information and the receiver location in this moment of receiving; Judge whether this moment surpasses default time range apart from current time or judge whether the receiver location in this moment surpasses default distance range apart from present receiving machine position; If surpass default time range or distance range, again receive described difference information.
10. a satellite navigation receiver of having applied difference information transmission method described in claim 1 ~ 9 any one.
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| CN104407364A (en) * | 2014-11-03 | 2015-03-11 | 中国人民解放军63961部队 | High precision measuring type Beidou user machine |
| CN104635250A (en) * | 2015-01-30 | 2015-05-20 | 泰斗微电子科技有限公司 | High-precision positioning method based on foundation reinforcement and high-precision positioning system based on foundation reinforcement |
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| CN106953866A (en) * | 2017-03-29 | 2017-07-14 | 千寻位置网络有限公司 | Method and system, the service terminal of high accuracy positioning service are provided |
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