CN106026310A - Electric car with good charging function - Google Patents

Abstract

The invention provides an electric car with a good charging function. The electric car comprises an electric car body and a global navigation satellite system receiver connected with the electric car body. The electric car is characterized in that a battery of the electric car is a lithium iron phosphate battery and comprises a battery pack formed by 176 battery cells connected in series, the capacity of each battery cell is 320 Ah, the rated voltage of each battery cell is 3.2 V, and the normal work voltage of the battery cells ranges from 2.0 V to 3.65 V. The inconsistency of battery packs can be effectively eliminated, the actual available capacity of the battery pack is improved, and the cyclic service life of the battery pack is prolonged.

Description

The electric automobile that a kind of charge function is good

Technical field

The present invention relates to electric automobile field, be specifically related to the electric automobile that a kind of charge function is good.

Background technology

In recent years, ev industry develops rapidly, on the one hand, the problems such as electric automobile existence charging is unbalanced, on the other hand, It is desirable to electric automobile and accurate positioning function can be provided.

In order to improve the precision of satellite fix as far as possible, multiple satellite fix enhancement techniques, such as, local are had been developed at present Differential GPS, WADGPS etc., can the precision of significantly satellite fix.But, possess satellite fix increasing powerful entirely Generally there is the problem that structure is complicated, price is high in ball navigation satellite system receiver.

Summary of the invention

For solving the problems referred to above, the present invention provides the electric automobile that a kind of charge function is good.

The purpose of the present invention realizes by the following technical solutions:

The electric automobile that a kind of charge function is good, connects including electric automobile and the GLONASS being connected with electric automobile Receipts machine, it is characterised in that the battery of described electric automobile is ferric phosphate lithium cell, the capacity including 176 joint series connection is 320Ah The set of cells of battery cell composition, the rated voltage often saving cell is 3.2V, and cell normal working voltage scope is 2.0V-3.65V, when needing charging, uses electric quantity of single batteries equalization methods to be charged, initially with the electric current pair of 100A Set of cells carries out constant-current charge, it is characterised in that when in set of cells, any battery monomer voltage is more than 3.55V or global voltage More than 608V, use and complete charging process with drop-out voltage charging modes:

When in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, and charging current is reduced to 50A；

When in set of cells, any battery monomer voltage is more than 610V more than 3.575V or global voltage, and charging current is reduced to 30A；

When in set of cells, any battery monomer voltage is more than 612V more than 3.60V or global voltage, and charging current is reduced to 20A；

When in set of cells, any battery monomer voltage is more than 614V more than 3.625V or global voltage, and charging current is reduced to 10A；

When any battery monomer voltage charges more than 616V, stopping more than 3.65V or global voltage in set of cells, complete charging Process.

The invention have the benefit that positioning precision is high, low cost, it is simple to produce and safeguard.

Accompanying drawing explanation

The invention will be further described to utilize accompanying drawing, but the embodiment in accompanying drawing does not constitute any limitation of the invention, for Those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtains the attached of other according to the following drawings Figure.

Fig. 1 is the schematic diagram of electric automobile of the present invention；

Fig. 2 is the structural representation of global navigation satellite system receiver.

Reference: global navigation satellite system receiver 1, satellite pseudorange measurement acquiring unit 11, Satellite observation pseudorange Error concealment unit 12, position resolve rough error and eliminate unit 13.

Detailed description of the invention

The invention will be further described with the following Examples.

Application scenarios 1

Seeing Fig. 1, Fig. 2, the electric automobile that a kind of charge function of an embodiment of this application scene is good, including electronic vapour Car and the global navigation satellite system receiver being connected with electric automobile, it is characterised in that the battery of described electric automobile is phosphoric acid Lithium iron battery, including the set of cells that capacity is 320Ah battery cell composition of 176 joint series connection, often saves the specified electricity of cell Pressure is 3.2V, and cell normal working voltage scope is 2.0V-3.65V, when needing charging, uses electric quantity of single batteries equilibrium Method is charged, and the current versus cell group initially with 100A carries out constant-current charge, it is characterised in that when appointing in set of cells One battery cell voltage more than 608V more than 3.55V or global voltage, uses and completes charging process with drop-out voltage charging modes:

When in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, and charging current is reduced to 50A；

When in set of cells, any battery monomer voltage is more than 610V more than 3.575V or global voltage, and charging current is reduced to 30A；

When in set of cells, any battery monomer voltage is more than 612V more than 3.60V or global voltage, and charging current is reduced to 20A；

When in set of cells, any battery monomer voltage is more than 614V more than 3.625V or global voltage, and charging current is reduced to 10A；

When any battery monomer voltage charges more than 616V, stopping more than 3.65V or global voltage in set of cells, complete charging Process.

Preferably, when detecting that all monomer voltages are more than 3V and no more than 3.55V, and set of cells any one battery list interior Bulk voltage is less than 10mv less than the average voltage level of set of cells, when global voltage is not more than 608V, directly uses 100A electric current Constant-current charge.

The above embodiment of the present invention can effectively reach to eliminate set of cells discordance, improves the actual active volume of set of cells and extends electricity Pond group service life cycle.

Preferably, when in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, fall voltage is entered Charging process terminates to charging.

This preferred embodiment can significantly save the energy.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, Satellite observation Pseudorange error eliminates unit 12, position resolves rough error and eliminates unit 13, and described satellite pseudorange measurement acquiring unit 11 is used for Process the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates unit 12 Systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using least square Method carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out rough error elimination in solution process, Obtain described high-precision coordinate eventually.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)For the measurement pseudorange of every visible satellite, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sFor global navigational satellite system System receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each Satellite-signal is through ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For earth rotation effects Time delay,For the pseudo range measurement noise to each satellite-signal；

Wherein,X is global navigational satellite The position coordinates vector of system receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers various time delay in the calculating of pseudorange Error, decreases the time of initial alignment, decreases the energy loss of global navigation satellite system receiver 1, adds standby Time, improve the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to eliminate, After error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, can not there is clock correction with gps time stringent synchronization in each satellite clock p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set T₁'s Span is [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudo range measurement side Journey linearisation solves: Δ ρ^(M)=H Δ X

WithRespectively k with k-1 moment global navigation satellite system receiver 1 is relative defends The pseudorange of star M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively k and k-1 moment global navigation satellite system receiver 1 Position；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal acts in resolving The biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and global navigational satellite The error E that system receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide other error E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error all can obtain A set of error values relevant to this measurement error, thus measures the standard deviation that can obtain corresponding measurement error every time σ^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meets weight factor choosing Take requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Arrive:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficient

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves global navigational satellite system The sensitivity of system receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including the pre-place being sequentially connected with Reason subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment subelement is used for Satellite pseudo range measurement data after described elimination systematic error are carried out pretreatment, rejects the satellite of data exception；Described position solves Operator unit, for according to pretreated satellite pseudo range measurement data, uses method of least square and initial weight matrix to initialize Position-Solving；Whether the Position-Solving result that described rough error judges and elimination subelement exports for judging position Solution operator unit There is rough error, if there is rough error, rejecting and the fault satellites of rough error occurs, if there is not rough error, using method of least square and new Weight matrix is iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time terminate iteration, thus really Fixed preferred satellite, and then obtain and export positioning result；Described filtering subelement is for using Kalman to described positioning result Filtering is filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite pseudorange The factor arrays of measuring error equation and constant term, obtain described initial weight matrix according to elevation of satellite；Enter according to method of least square Row Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to satellite Number and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement error side Journey and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means clustering method to institute State the distance between each vector and carry out cluster analysis, it is judged that the close and distant relation between vector, thus complete outliers identifying.

This preferred embodiment by method of least square, interative computation, clustering method and filtering calculate combine, improve satellite preferably and The precision of location, after eliminating pseudo range measurement error, is made whether to exist the judgement of rough error, and isolates existence before interative computation The fault satellites of rough error, reduces amount of calculation, improves positional accuracy further.

In this application scenarios, set threshold value T₁Value be 30mm, locating speed improves 10% relatively, positioning precision phase To improve 12%.

Application scenarios 2

Seeing Fig. 1, Fig. 2, the electric automobile that a kind of charge function of an embodiment of this application scene is good, including electronic vapour Car and the global navigation satellite system receiver being connected with electric automobile, it is characterised in that the battery of described electric automobile is phosphoric acid Lithium iron battery, including the set of cells that capacity is 320Ah battery cell composition of 176 joint series connection, often saves the specified electricity of cell Pressure is 3.2V, and cell normal working voltage scope is 2.0V-3.65V, when needing charging, uses electric quantity of single batteries equilibrium Method is charged, and the current versus cell group initially with 100A carries out constant-current charge, it is characterised in that when appointing in set of cells One battery cell voltage more than 608V more than 3.55V or global voltage, uses and completes charging process with drop-out voltage charging modes:

When in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, and charging current is reduced to 50A；

When in set of cells, any battery monomer voltage is more than 610V more than 3.575V or global voltage, and charging current is reduced to 30A；

When in set of cells, any battery monomer voltage is more than 612V more than 3.60V or global voltage, and charging current is reduced to 20A；

When in set of cells, any battery monomer voltage is more than 614V more than 3.625V or global voltage, and charging current is reduced to 10A；

When any battery monomer voltage charges more than 616V, stopping more than 3.65V or global voltage in set of cells, complete charging Process.

Preferably, when detecting that all monomer voltages are more than 3V and no more than 3.55V, and set of cells any one battery list interior Bulk voltage is less than 10mv less than the average voltage level of set of cells, when global voltage is not more than 608V, directly uses 100A electric current Constant-current charge.

The above embodiment of the present invention can effectively reach to eliminate set of cells discordance, improves the actual active volume of set of cells and extends electricity Pond group service life cycle.

Preferably, when in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, fall voltage is entered Charging process terminates to charging.

This preferred embodiment can significantly save the energy.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, Satellite observation Pseudorange error eliminates unit 12, position resolves rough error and eliminates unit 13, and described satellite pseudorange measurement acquiring unit 11 is used for Process the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates unit 12 Systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using least square Method carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out rough error elimination in solution process, Obtain described high-precision coordinate eventually.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)For the measurement pseudorange of every visible satellite, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sFor global navigational satellite system System receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each Satellite-signal is through ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For earth rotation effects Time delay,For the pseudo range measurement noise to each satellite-signal；

Wherein,X is global navigational satellite The position coordinates vector of system receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers various time delay in the calculating of pseudorange Error, decreases the time of initial alignment, decreases the energy loss of global navigation satellite system receiver 1, adds standby Time, improve the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to eliminate, After error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, can not there is clock correction with gps time stringent synchronization in each satellite clock p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set T₁'s Span is [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudo range measurement side Journey linearisation solves: Δ ρ^(M)=H Δ X

WithRespectively k with k-1 moment global navigation satellite system receiver 1 is relative defends The pseudorange of star M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively k and k-1 moment global navigation satellite system receiver 1 Position；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal acts in resolving The biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and global navigational satellite The error E that system receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide other error E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error all can obtain A set of error values relevant to this measurement error, thus measures the standard deviation that can obtain corresponding measurement error every time σ^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meets weight factor choosing Take requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Arrive:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficient

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves global navigational satellite system The sensitivity of system receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including the pre-place being sequentially connected with Reason subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment subelement is used for Satellite pseudo range measurement data after described elimination systematic error are carried out pretreatment, rejects the satellite of data exception；Described position solves Operator unit, for according to pretreated satellite pseudo range measurement data, uses method of least square and initial weight matrix to initialize Position-Solving；Whether the Position-Solving result that described rough error judges and elimination subelement exports for judging position Solution operator unit There is rough error, if there is rough error, rejecting and the fault satellites of rough error occurs, if there is not rough error, using method of least square and new Weight matrix is iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time terminate iteration, thus really Fixed preferred satellite, and then obtain and export positioning result；Described filtering subelement is for using Kalman to described positioning result Filtering is filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite pseudorange The factor arrays of measuring error equation and constant term, obtain described initial weight matrix according to elevation of satellite；Enter according to method of least square Row Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to satellite Number and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement error side Journey and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means clustering method to institute State the distance between each vector and carry out cluster analysis, it is judged that the close and distant relation between vector, thus complete outliers identifying.

This preferred embodiment by method of least square, interative computation, clustering method and filtering calculate combine, improve satellite preferably and The precision of location, after eliminating pseudo range measurement error, is made whether to exist the judgement of rough error, and isolates existence before interative computation The fault satellites of rough error, reduces amount of calculation, improves positional accuracy further.

In this application scenarios, set threshold value T₁Value be 35mm, locating speed improves 9% relatively, and positioning precision is relative Improve 11%.

Application scenarios 3

Seeing Fig. 1, Fig. 2, the electric automobile that a kind of charge function of an embodiment of this application scene is good, including electronic vapour Car and the global navigation satellite system receiver being connected with electric automobile, it is characterised in that the battery of described electric automobile is phosphoric acid Lithium iron battery, including the set of cells that capacity is 320Ah battery cell composition of 176 joint series connection, often saves the specified electricity of cell Pressure is 3.2V, and cell normal working voltage scope is 2.0V-3.65V, when needing charging, uses electric quantity of single batteries equilibrium Method is charged, and the current versus cell group initially with 100A carries out constant-current charge, it is characterised in that when appointing in set of cells One battery cell voltage more than 608V more than 3.55V or global voltage, uses and completes charging process with drop-out voltage charging modes:

When in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, and charging current is reduced to 50A；

When in set of cells, any battery monomer voltage is more than 610V more than 3.575V or global voltage, and charging current is reduced to 30A；

When in set of cells, any battery monomer voltage is more than 612V more than 3.60V or global voltage, and charging current is reduced to 20A；

When in set of cells, any battery monomer voltage is more than 614V more than 3.625V or global voltage, and charging current is reduced to 10A；

When any battery monomer voltage charges more than 616V, stopping more than 3.65V or global voltage in set of cells, complete charging Process.

Preferably, when detecting that all monomer voltages are more than 3V and no more than 3.55V, and set of cells any one battery list interior Bulk voltage is less than 10mv less than the average voltage level of set of cells, when global voltage is not more than 608V, directly uses 100A electric current Constant-current charge.

The above embodiment of the present invention can effectively reach to eliminate set of cells discordance, improves the actual active volume of set of cells and extends electricity Pond group service life cycle.

Preferably, when in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, fall voltage is entered Charging process terminates to charging.

This preferred embodiment can significantly save the energy.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, Satellite observation Pseudorange error eliminates unit 12, position resolves rough error and eliminates unit 13, and described satellite pseudorange measurement acquiring unit 11 is used for Process the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates unit 12 Systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using least square Method carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out rough error elimination in solution process, Obtain described high-precision coordinate eventually.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)For the measurement pseudorange of every visible satellite, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sFor global navigational satellite system System receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each Satellite-signal is through ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For earth rotation effects Time delay,For the pseudo range measurement noise to each satellite-signal；

Wherein,X is global navigational satellite The position coordinates vector of system receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers various time delay in the calculating of pseudorange Error, decreases the time of initial alignment, decreases the energy loss of global navigation satellite system receiver 1, adds standby Time, improve the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to eliminate, After error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, can not there is clock correction with gps time stringent synchronization in each satellite clock p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set T₁'s Span is [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudo range measurement side Journey linearisation solves: Δ ρ^(M)=H Δ X

WithRespectively k with k-1 moment global navigation satellite system receiver 1 is relative defends The pseudorange of star M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively k and k-1 moment global navigation satellite system receiver 1 Position；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal acts in resolving The biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and global navigational satellite The error E that system receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide other error E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error all can obtain A set of error values relevant to this measurement error, thus measures the standard deviation that can obtain corresponding measurement error every time σ^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meets weight factor choosing Take requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Arrive:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficient

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves global navigational satellite system The sensitivity of system receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including the pre-place being sequentially connected with Reason subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment subelement is used for Satellite pseudo range measurement data after described elimination systematic error are carried out pretreatment, rejects the satellite of data exception；Described position solves Operator unit, for according to pretreated satellite pseudo range measurement data, uses method of least square and initial weight matrix to initialize Position-Solving；Whether the Position-Solving result that described rough error judges and elimination subelement exports for judging position Solution operator unit There is rough error, if there is rough error, rejecting and the fault satellites of rough error occurs, if there is not rough error, using method of least square and new Weight matrix is iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time terminate iteration, thus really Fixed preferred satellite, and then obtain and export positioning result；Described filtering subelement is for using Kalman to described positioning result Filtering is filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite pseudorange The factor arrays of measuring error equation and constant term, obtain described initial weight matrix according to elevation of satellite；Enter according to method of least square Row Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to satellite Number and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement error side Journey and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means clustering method to institute State the distance between each vector and carry out cluster analysis, it is judged that the close and distant relation between vector, thus complete outliers identifying.

This preferred embodiment by method of least square, interative computation, clustering method and filtering calculate combine, improve satellite preferably and The precision of location, after eliminating pseudo range measurement error, is made whether to exist the judgement of rough error, and isolates existence before interative computation The fault satellites of rough error, reduces amount of calculation, improves positional accuracy further.

In this application scenarios, set threshold value T₁Value be 40mm, locating speed improves 13% relatively, positioning precision phase To improve 13%.

Application scenarios 4

Seeing Fig. 1, Fig. 2, the electric automobile that a kind of charge function of an embodiment of this application scene is good, including electronic vapour Car and the global navigation satellite system receiver being connected with electric automobile, it is characterised in that the battery of described electric automobile is phosphoric acid Lithium iron battery, including the set of cells that capacity is 320Ah battery cell composition of 176 joint series connection, often saves the specified electricity of cell Pressure is 3.2V, and cell normal working voltage scope is 2.0V-3.65V, when needing charging, uses electric quantity of single batteries equilibrium Method is charged, and the current versus cell group initially with 100A carries out constant-current charge, it is characterised in that when appointing in set of cells One battery cell voltage more than 608V more than 3.55V or global voltage, uses and completes charging process with drop-out voltage charging modes:

When in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, and charging current is reduced to 50A；

When in set of cells, any battery monomer voltage is more than 610V more than 3.575V or global voltage, and charging current is reduced to 30A；

When in set of cells, any battery monomer voltage is more than 612V more than 3.60V or global voltage, and charging current is reduced to 20A；

When in set of cells, any battery monomer voltage is more than 614V more than 3.625V or global voltage, and charging current is reduced to 10A；

When any battery monomer voltage charges more than 616V, stopping more than 3.65V or global voltage in set of cells, complete charging Process.

Preferably, when detecting that all monomer voltages are more than 3V and no more than 3.55V, and set of cells any one battery list interior Bulk voltage is less than 10mv less than the average voltage level of set of cells, when global voltage is not more than 608V, directly uses 100A electric current Constant-current charge.

The above embodiment of the present invention can effectively reach to eliminate set of cells discordance, improves the actual active volume of set of cells and extends electricity Pond group service life cycle.

Preferably, when in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, fall voltage is entered Charging process terminates to charging.

This preferred embodiment can significantly save the energy.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, Satellite observation Pseudorange error eliminates unit 12, position resolves rough error and eliminates unit 13, and described satellite pseudorange measurement acquiring unit 11 is used for Process the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates unit 12 Systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using least square Method carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out rough error elimination in solution process, Obtain described high-precision coordinate eventually.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)For the measurement pseudorange of every visible satellite, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sFor global navigational satellite system System receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each Satellite-signal is through ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For earth rotation effects Time delay,For the pseudo range measurement noise to each satellite-signal；

Wherein,X is global navigational satellite The position coordinates vector of system receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers various time delay in the calculating of pseudorange Error, decreases the time of initial alignment, decreases the energy loss of global navigation satellite system receiver 1, adds standby Time, improve the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to eliminate, After error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, can not there is clock correction with gps time stringent synchronization in each satellite clock p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set T₁'s Span is [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudo range measurement side Journey linearisation solves: Δ ρ^(M)=H Δ X

WithRespectively k with k-1 moment global navigation satellite system receiver 1 is relative defends The pseudorange of star M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively k and k-1 moment global navigation satellite system receiver 1 Position；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal acts in resolving The biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and global navigational satellite The error E that system receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide other error E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error all can obtain A set of error values relevant to this measurement error, thus measures the standard deviation that can obtain corresponding measurement error every time σ^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meets weight factor choosing Take requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Arrive:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficient

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves global navigational satellite system The sensitivity of system receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including the pre-place being sequentially connected with Reason subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment subelement is used for Satellite pseudo range measurement data after described elimination systematic error are carried out pretreatment, rejects the satellite of data exception；Described position solves Operator unit, for according to pretreated satellite pseudo range measurement data, uses method of least square and initial weight matrix to initialize Position-Solving；Whether the Position-Solving result that described rough error judges and elimination subelement exports for judging position Solution operator unit There is rough error, if there is rough error, rejecting and the fault satellites of rough error occurs, if there is not rough error, using method of least square and new Weight matrix is iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time terminate iteration, thus really Fixed preferred satellite, and then obtain and export positioning result；Described filtering subelement is for using Kalman to described positioning result Filtering is filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite pseudorange The factor arrays of measuring error equation and constant term, obtain described initial weight matrix according to elevation of satellite；Enter according to method of least square Row Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to satellite Number and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement error side Journey and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means clustering method to institute State the distance between each vector and carry out cluster analysis, it is judged that the close and distant relation between vector, thus complete outliers identifying.

This preferred embodiment by method of least square, interative computation, clustering method and filtering calculate combine, improve satellite preferably and The precision of location, after eliminating pseudo range measurement error, is made whether to exist the judgement of rough error, and isolates existence before interative computation The fault satellites of rough error, reduces amount of calculation, improves positional accuracy further.

In this application scenarios, set threshold value T₁Value be 45mm, locating speed improves 14% relatively, positioning precision phase To improve 15%.

Application scenarios 5

Seeing Fig. 1, Fig. 2, the electric automobile that a kind of charge function of an embodiment of this application scene is good, including electronic vapour Car and the global navigation satellite system receiver being connected with electric automobile, it is characterised in that the battery of described electric automobile is phosphoric acid Lithium iron battery, including the set of cells that capacity is 320Ah battery cell composition of 176 joint series connection, often saves the specified electricity of cell Pressure is 3.2V, and cell normal working voltage scope is 2.0V-3.65V, when needing charging, uses electric quantity of single batteries equilibrium Method is charged, and the current versus cell group initially with 100A carries out constant-current charge, it is characterised in that when appointing in set of cells One battery cell voltage more than 608V more than 3.55V or global voltage, uses and completes charging process with drop-out voltage charging modes:

When in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, and charging current is reduced to 50A；

When in set of cells, any battery monomer voltage is more than 610V more than 3.575V or global voltage, and charging current is reduced to 30A；

When in set of cells, any battery monomer voltage is more than 612V more than 3.60V or global voltage, and charging current is reduced to 20A；

When in set of cells, any battery monomer voltage is more than 614V more than 3.625V or global voltage, and charging current is reduced to 10A；

When any battery monomer voltage charges more than 616V, stopping more than 3.65V or global voltage in set of cells, complete charging Process.

Preferably, when detecting that all monomer voltages are more than 3V and no more than 3.55V, and set of cells any one battery list interior Bulk voltage is less than 10mv less than the average voltage level of set of cells, when global voltage is not more than 608V, directly uses 100A electric current Constant-current charge.

The above embodiment of the present invention can effectively reach to eliminate set of cells discordance, improves the actual active volume of set of cells and extends electricity Pond group service life cycle.

Preferably, when in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, fall voltage is entered Charging process terminates to charging.

This preferred embodiment can significantly save the energy.

Preferably, described global navigation satellite system receiver 1 includes satellite pseudorange measurement acquiring unit 11, Satellite observation Pseudorange error eliminates unit 12, position resolves rough error and eliminates unit 13, and described satellite pseudorange measurement acquiring unit 11 is used for Process the pseudorange observation of multi-satellite simultaneously, obtain satellite pseudo range measurement data；Described Satellite observation pseudorange error eliminates unit 12 Systematic error during eliminating satellite pseudo range measurement；Described position resolves rough error elimination unit 13 and is used for using least square Method carries out position resolving to the satellite pseudo range measurement data after eliminating systematic error, and carries out rough error elimination in solution process, Obtain described high-precision coordinate eventually.

This preferred embodiment constructs the main frame of global navigation satellite system receiver 1.

Preferably, the survey calculation formula of the satellite pseudorange that described satellite pseudorange measurement acquiring unit 11 uses is:

${\mathrm{\ρ}}^{\left(M\right)}=r^{\left(M\right)}+c({\mathrm{\δt}}_s-{\mathrm{\δt}}^{\left(M\right)})+c\left(Y^{\left(M\right)}\right)+n_{\mathrm{\ρ}}^{\left(M\right)}$

In formula, M=1,2 ..., m is all interim numberings observing satellite, ρ^(M)For the measurement pseudorange of every visible satellite, r^(M)Represent the geometric distance of every satellite position and global navigation satellite system receiver 1 position, δ t_sFor global navigational satellite system System receiver 1 clock and the clock correction of gps clock, δ t^(M)For the clock correction of every satellite Yu gps clock, Y^(M)For signal lag Error, Y^(M)=C^(M)+D^(M)+Z^(M)+R^(M), C^(M)For each satellite-signal through the time delay of magnetosphere, D^(M)For each Satellite-signal is through ionospheric time delay, Z^(M)For each satellite-signal through the time delay of neutral line, R^(M)For earth rotation effects Time delay,For the pseudo range measurement noise to each satellite-signal；

Wherein,X is global navigational satellite The position coordinates vector of system receiver 1, X^(M)Position coordinates vector for satellite M.

This preferred embodiment proposes the computing formula measuring pseudorange of visible satellite, considers various time delay in the calculating of pseudorange Error, decreases the time of initial alignment, decreases the energy loss of global navigation satellite system receiver 1, adds standby Time, improve the certainty of measurement of satellite pseudorange.

Preferably, the systematic error during described elimination satellite pseudo range measurement includes:

(1) for the first time error is eliminated:

Due to satellite orbit perturbation, can there is deviation p in satellite position in-orbit and actual position₁, take Differential positioning method to eliminate, After error abatement, deviation is p '₁；

Owing to there is clock drift and relativistic effect, can not there is clock correction with gps time stringent synchronization in each satellite clock p₂, satellite the navigation message issued eliminates, and after error abatement, deviation is p '₂；

Owing to each error is different to location precision, set threshold value T₁, and introduce error evaluation factor P:

P=(p₁-p′₁)×(p₂-p′₂)

If P≤T₁, then complete primary error concealment, otherwise, primary error concealment need to be proceeded；Wherein set T₁'s Span is [30m, 50m]；

Except δ t_sCannot be modified by the visible star information received, can obtain:

$\sqrt{(x^{\left(M\right)}-x_s)+(y^{\left(M\right)}-y_s)+(z^{\left(M\right)}-z_s)}+{\mathrm{\δt}}_s={\mathrm{\ρ}}^{\left(M\right)}$

It is used for Taylor to launch and carry out single order linearisation to block, ignores remaining higher order term, so that pseudo range measurement side Journey linearisation solves: Δ ρ^(M)=H Δ X

WithRespectively k with k-1 moment global navigation satellite system receiver 1 is relative defends The pseudorange of star M, Δ X=X_k-X_k-1, X_kAnd X_k-1It is respectively k and k-1 moment global navigation satellite system receiver 1 Position；

(2) error is eliminated by second time:

Through error concealment for the first time, it is easy to get:

$n_{\mathrm{\ρ}}^{\left(M\right)}={\mathrm{\ρ}}^{\left(M\right)}-\left|\right|X^{\left(M\right)}-X\left|\right|-{\mathrm{\δt}}_s$

In order to study conveniently, it is assumed that measurement errorMeet the condition being independently distributed, and meet normal distribution:

$n_{\mathrm{\ρ}}^{\left(M\right)}~N(0,{\left({\mathrm{\σ}}_{\mathrm{\ρ}}^{\left(M\right)}\right)}^2)$

In formula,ForStandard deviation, M is the number of visible star, order:

$\frac{n_{\mathrm{\ρ}}^{\left(M\right)}}{w^{\left(M\right)}}~N(0,{\mathrm{\σ}}_0^2)$

w^(M)For the weight that each measured value is corresponding, σ₀ForStandard deviation, Δ X is solved by following formula:

$\frac{1}{w^{\left(M\right)}}{\mathrm{\Δ\ρ}}^{\left(M\right)}=\frac{1}{w^{\left(M\right)}}H\·\mathrm{\Δ}X$

Each outputting measurement value ρ^(M)Corresponding weight w^(M), and wish weight w^(M)The biggest value reciprocal acts in resolving The biggest, if ρ^(M)Measurement error is the least, w^(M)Ying Yue little；

Wherein, the factor affecting pseudo range measurement precision includes: the error E relevant with gps satellite itself₁, and global navigational satellite The error E that system receiver 1 is relevant₂, relevant with satellite signal strength error E₃, including earth tide other error E₄；

Wherein, E₁It is supplied to user by range accuracy factor N in navigation message,

E₁More hour, measurement error is the least, and this meets in weighting algorithm the selection requirement to weight factor；

E₂Being obtained by global navigation satellite system receiver 1 prediction itself and actual measured value, each measurement error all can obtain A set of error values relevant to this measurement error, thus measures the standard deviation that can obtain corresponding measurement error every time σ^(M):

w^(M)=σ^(M)

Using this standard deviation as weight factor；

E₃Represent by carrier-to-noise ratio, use SIGMA-ε model to carry out error measurement,

${\left({\mathrm{\σ}}^{\left(M\right)}\right)}^2=a+b\·{10}^{(-\frac{C}{N_{0,i}})/10}$

A, b are model parameter, N_0,iFor the carrier-to-noise ratio measured, when carrier-to-noise ratio is the biggest, measurement error is the least, meets Selection requirement to weight factor in weighting algorithm；

E₄As a example by earth tide, tide causes Station Displacements, and displacement is the least, and the error caused is the least, meets weight factor choosing Take requirement；

If E₁、E₂、E₃、E₄Weight factor be respectivelyIt is weighted again, Arrive:

$w_{add}^{\left(M\right)}=a_1\·w_{E_1}^{\left(M\right)}+a_2\·w_{E_2}^{\left(M\right)}+a_3\·w_{E_3}^{\left(M\right)}+a_4\·w_{E_4}^{\left(M\right)}$

Wherein, coefficient

(3) determine error abatement after position error:

Determine that twice error abatement is respectively Q to the factor of influence of positioning precision₁And Q₂, integrated contributory factor:

Q=Q₁×Q₂

Positioning precision distance root mean square (DRMS) represents, before and after error abatement, position error exists following relation:

DRMS_h=Q × DRMS_q

DRMS_qAnd DRMS_hRepresent position error before and after error abatement respectively.

This preferred embodiment, by eliminating the systematic error during satellite pseudo range measurement, improves global navigational satellite system The sensitivity of system receiver 1, further increases the certainty of measurement of satellite pseudorange, thus improves positioning precision.

Preferably, described position resolves rough error and eliminates unit 13 with computer and wave filter as carrier, including the pre-place being sequentially connected with Reason subelement, position Solution operator unit, rough error judge and eliminate subelement and filtering subelement；Described pretreatment subelement is used for Satellite pseudo range measurement data after described elimination systematic error are carried out pretreatment, rejects the satellite of data exception；Described position solves Operator unit, for according to pretreated satellite pseudo range measurement data, uses method of least square and initial weight matrix to initialize Position-Solving；Whether the Position-Solving result that described rough error judges and elimination subelement exports for judging position Solution operator unit There is rough error, if there is rough error, rejecting and the fault satellites of rough error occurs, if there is not rough error, using method of least square and new Weight matrix is iterated calculating, until the increment of position location is less than the sufficiently small threshold values T preset₂Time terminate iteration, thus really Fixed preferred satellite, and then obtain and export positioning result；Described filtering subelement is for using Kalman to described positioning result Filtering is filtered calculating, and exports final positioning result；

Wherein, described employing method of least square and initial weight matrix carry out initialized Position-Solving, including: obtain satellite pseudorange The factor arrays of measuring error equation and constant term, obtain described initial weight matrix according to elevation of satellite；Enter according to method of least square Row Position-Solving；

Wherein, whether the described Position-Solving result judging position Solution operator unit output exists rough error, including: according to satellite Number and the pseudo-probability and abandon true probability and carry out blunder test received accordingly, the rough error to inspection, according to satellite pseudo range measurement error side Journey and initialize matrix calculus and make new advances matrix, calculates the distance between each vector of new matrix, uses K-means clustering method to institute State the distance between each vector and carry out cluster analysis, it is judged that the close and distant relation between vector, thus complete outliers identifying.

This preferred embodiment by method of least square, interative computation, clustering method and filtering calculate combine, improve satellite preferably and The precision of location, after eliminating pseudo range measurement error, is made whether to exist the judgement of rough error, and isolates existence before interative computation The fault satellites of rough error, reduces amount of calculation, improves positional accuracy further.

In this application scenarios, set threshold value T₁Value be 50mm, locating speed improves 15% relatively, positioning precision phase To improve 16%.

Last it should be noted that, above example is only in order to illustrate technical scheme, rather than to scope Restriction, although having made to explain to the present invention with reference to preferred embodiment, it will be understood by those within the art that, Technical scheme can be modified or equivalent, without deviating from the spirit and scope of technical solution of the present invention.

Claims (3)

1. the electric automobile that charge function is good, including electric automobile and the GLONASS that is connected with electric automobile Receiver, it is characterised in that the battery of described electric automobile is ferric phosphate lithium cell, the capacity including 176 joint series connection is 320Ah The set of cells of battery cell composition, the rated voltage often saving cell is 3.2V, and cell normal working voltage scope is 2.0V-3.65V, when needing charging, uses electric quantity of single batteries equalization methods to be charged, initially with the electric current pair of 100A Set of cells carries out constant-current charge, it is characterised in that when in set of cells, any battery monomer voltage is more than 3.55V or global voltage More than 608V, use and complete charging process with drop-out voltage charging modes:

When in set of cells, any battery monomer voltage is more than 608V more than 3.55V or global voltage, and charging current is reduced to 50A；

When in set of cells, any battery monomer voltage is more than 610V more than 3.575V or global voltage, and charging current is reduced to 30A；

When in set of cells, any battery monomer voltage is more than 612V more than 3.60V or global voltage, and charging current is reduced to 20A；

When in set of cells, any battery monomer voltage is more than 614V more than 3.625V or global voltage, and charging current is reduced to 10A；

When any battery monomer voltage charges more than 616V, stopping more than 3.65V or global voltage in set of cells, complete charging Process.

The electric automobile that a kind of charge function the most according to claim 1 is good, it is characterised in that when all lists being detected Bulk voltage is more than 3V and no more than 3.55V, and set of cells any one battery cell voltage interior is less than the average voltage of set of cells Value is less than 10mv, when global voltage is not more than 608V, directly uses 100A electric current constant-current charge.

The electric automobile that a kind of charge function the most according to claim 2 is good, it is characterised in that when arbitrary in set of cells Battery cell voltage terminates to charging more than 608V, entrance fall voltage charging process more than 3.55V or global voltage.